I agree with both your comments and have had much the same experience going from the two keyboards I have and then on to my Technics PR900 piano.

All I did was change the TOUCH SENSITIVITY on the piano. It has four settings e.g. Light1, Light2, Normal and Heavy.

Naturally, I changed it to 'Light1' which suits my style of playing. Unfortunately, because of its age, it doesn't have the 'Aftertouch' facility, but just taking this action did help a lot with 'wrist ache' and speed of playing.

Audrey