Personally I love the PSR-3000's keyboard most of all.Great velocity response(if you depress a key slow enough,there is no sound...just like a piano!)and very nice light touch and rebound.I don't miss the aftertouch and it's been very reliable.
I had a Tyros 1 and preferred the 3k's action,although it is not for everyone,as some of the following posts will probably indicate.
Like the sounds,the action of a keyboard is subjective and will vary according to the needs and personal preferences of the user.

I love my 3k.
Ian