Josephine I have a kawai cn29. It always takes some time to adjust to my acoustic upright piano.
Last year I played a kawai grand a few times and the action felt the same as my digital piano. I didn't have to adjust to the grand piano at all. But playing dynamics on the real grand piano was easier compared to my digital piano.
You make a good point. I also find that the difference in touch between a digital and an upright is bigger than between a digital and a grand. I suppose the makers of digital pianos are trying to emulate grand pianos more.
A few years back I went into a store and tried a DP that felt much more like my mom's old upright and was surprised by that. Unfortunately, I don't remember what brand or model it was.