well lets open up by saying the p85 is outdated, and the p95 is by far an almost outdated starter piano that sucks.
Ok now that that's done, lets move into the real price range of not hundreds but thousands. And more then 5. The p series and the ydp/arius series are junk. Worthless, don't waste the cash. You'd want the mid to high clp series. Or of course more expensive the cvp or even the gp. Very pricey though.
That said I don't care much for yamaha. They're nice, I like the deeper tone they have, and the keys on the clp mid range feel heavy and stiff like you were playing a Hamilton upright.
I find I like kawai's key set better. The longer keys feel more like the action of mason Hamlin. Course the key feel differs depending on if it's an rh or rm3 or even that long wood action on the awa (I think the new ce they released has that one and isn't to bad.) Now you could spend thousands on a CA93 or thousands more for one of those extra's with all the bells and whistles but I find the only thing you need are the keys. The feel and action is everything. Why? Because no matter what, you can probably find a computer program that has an amazing sample from the piano you like. Hell some guys sample from multiple piano's picking and choosing.
Now roland has probably the best action Ive seen yet. Keys as delacate to your touch as a grand piano. You could play as softly to still hear a pin dropping. Their only problem is the hardware. Damn keys always breaking, ivory wearing off (That reminds me ivory touch. Definitely makes the action no matter the brand feel more real)
Will any digital really feel like an acoustic? eh, prolly not. Their are no strings in there to make your floor vibrate. Will the keys feel the same? I think so. For every acoustic out there, some digital matches it. Why? Because like digitals even with the same action each seem to feel different. Same with acoustics. Anyone that says otherwise is full of ****. Will it sound the same? Again same answer for the feel. I could make my very house shake with sheer volume in amps. Do you really want to?
I'd just get a keyboard. The inside of it is the same if not better then it's counterparts. It's all computer chips and action. The mp10 costs I think 2500 new. The ca93 is like 5 grand? All for a box and some cheap speakers. Get the keyboard, hook up some nice speakers like say polk, and wala better sound.
As for which keyboards are good theirs no answer. All up to you. I like the feel of the rh action on the mp6, I like the feel of the ca 63 but not so much the 93. Don't know why I just don't. Id be the same with you. You gotta go to dealerships and sit their messing with em waving the goofey salesman away. (I'd bring headphones to plug in, a good pair if you got em)