$500 vs $3,500 Digital Piano for Touch

I've been practicing on an upright piano for the past two years, and now I need to buy a digital piano. I'll mostly be using headphones, so built-in speakers aren't important to me.

Are there big differences among digital pianos in terms of touch and feel? Specifically, do more expensive models (e.g., $500 vs $3,500) have a significantly better touch that closely resembles an upright piano?

I'd love recommendations for the best digital pianos that feel as close to an acoustic upright as possible. Thanks!