Diki,
I could not disagree more ( a friend of mine has had a G70 for years) and your comparison to the use of the Behringer is pretty faulty. Amazing really as you seem to have the Behringer yourself but have only used it for computer stuff.
I think the use of the motorisation on the sliders can also be cancelled, not sure though, but the fact remains that you have more instant knobs and sliders to control every imaginable midi parameter. No way your G70 or for that matter the Tyros or PA3X can do this.

Don,
You should give it a go with the PSR950. And , assuming you have flogged the PA3X you might want to reconsider on a super lightweight sidekick to your Yammie in the form of th KMA.( with my resources, that goes without saying, haha
And with the Midi set up I created you would basically be playing the KMA from the PSR keys, at least all accompaniments.....

regards
John