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A forum comment here:
states that the piano sounds of the Tyros 5-76 might be deemed unsatisfactory if played alone, as opposed to when played with a rich accompaniment.
I honestly don't know what else to say. There matters of acoustic quality are sometimes so much a matter of tastes, and inarguable.
However, I can recommend that you reset your Yamaha Tyros, and see if the tone improves. And try different voices, and see if any of them are OK by your ear.
Also... try with not just headphones. The acoustics may be suited to speakers - and, the demos were undoubtedly not recorded with headphones but with speakers for sure.
Is your Tyros 5 new, or has it been in-use for a while and is this a sudden change in tone quality?