I owned the Motif ES 7 briefly and my experience with the keys is that they were very similar to my Tyros keys in feel and action. Almost an imperceptible difference IMO.
I bought my Tyros almost a year after they first hit the market so maybe Yamaha improved the later produced Tyros with better action keys. I dunno. Just a thought. But they feel very similar to the Motif ES 7 keys which according to Yamaha is one of the best keybeds available in a synth and even used in some models of Korg's keyboards and I think even some Roland keyboards too. The Motif ES8 is hammer action and weighted so it is another animal altogether. But for non-weighted synth action keys the Motif ES 6/7 and Tyros seem to me almost identical in feel. Very close anyway.
If you do Live gigging and you play more than just piano voices then synth keys (not hammer action weighted keys) is the way to go IMO. Try playing a fast guitar solo or a fast trumpet solo with a hammer action weighted keybed keyboard and you'll know what I mean. Very impractical to say the least. Besides being very difficult to do, your fingers and hands and even your arms will start to get fatigued rather quickly.
Any way, back to the topic. The Tyros already has a very good key action and feel that is very similar IMO to the Motif ES 6/7. After owning the Motif ES7 and then playing my Tyros for the first time that was my initial reaction, ie., the key feel and action was very similar to the Motif ES7 keys.
Best regards,
Mike
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Yamaha Genos, Mackie HR824 MKII Studio Monitors, Mackie 1202 VLZ Pro Mixer (made in USA), Cakewalk Sonar Platinum, Shure SM58 vocal mic.