There is the kawai novus5 which is a digital piano with the action and soundboard of a real upright piano and enough speakers to sound almost exactly like a real piano. There are also some new roland models I haven't tried. Many dealers lump these into their acoustic piano offering and don't market them differently because they are that good.

See https://m.youtube.com/watch?v=4DaaafyAUqA and https://m.youtube.com/watch?v=oLsPK2ATJcY. He is a pianist and he bought a novus5 to replace his own upright piano...