A keyboard with polyphonic aftertouch, such as the Yamaha CS-80 (famously played by Vangelis), is objectively more expressive than a piano.
This is just not true at all. The action of a piano is a very sophisticated mechanism that conveys both acceleration and velocity, along with the initial position of the key (e.g. fully released or half-pressed). This allows for a huge amount of tonal variation, though it's more subtle than a ribbon controller, and obviously a synth can do many things than a piano cannot.
https://en.wikipedia.org/wiki/Action_(piano)#/media/File:For...
All the complexity you mention only affects how the repetition lever (part 9) briefly bumps against the hammer shank (part 8). The only information this imparts to the hammer is velocity, and once it happens there's no more contact until the hammer falls back down. The hammer can't somehow remember what caused it to travel at a specific velocity and strike the string differently. There's only a single degree of freedom in its movement. What you perceive as "a huge amount of tonal variation" is mostly note timing.
It's entirely true for the attack, because of the escapement mechanism. At the point at which the hammer makes contact with the string, the hammer is mechanically disconnected from the key and moving purely through inertia. Once you've tripped the escapement, the hammer is beyond your control and pure physics takes over; the only variable is the velocity of the hammer when the escapement is tripped.
The release phase is controlled by a single parameter, albeit one that can vary over time. The key is holding up the damper, which returns to the string under gravity. A continuous value representing the range of motion of the key would be sufficient to model this with absolute accuracy. Digital pianos invariably sense release velocity rather than key position, because it's much cheaper to implement and is perfectly sufficient in virtually all cases; the range of motion between partial and full damping is so limited as to provide only a very limited degree of expressive control.
Obviously some of their sound is tied to specific guitar models, but their tone is still easily identified on other guitars. And although these players were creative improvisers, that's not what I mean. Simply put: if it's a great guitarist, you can hear their hands like you can hear a singer's mouth. (Though hands are clumsy compared to mouths, and guitars are clumsy compared to horns.)
I am not anti-synth or anti-electronic music. But I do not believe any existing synth controller provides the expressive possibilities of an electric guitar, even Allan Holdsworth's goofy breath controller. Maybe I'm wrong and there's a great example out there on YouTube. But it seems to me that for an individual to express their individuality with a synth, they need to play a longer musical fragment and color their expression with timing, volume, vibrato, etc. Three notes "with pizazz" will not really be enough.
Vangelis and the CS-80 is maybe an exception, though even if his songs are very recognizable, probably a lot of people could convincingly imitate him.
Maybe Wendy Carlos could count too.
There is, however, some real progress being made. For controllers, check out the Linnstrument, the Osmose, the Continuum. MPE was added to the MIDI spec a few years back, which makes it a lot more feasible to sell expressive instruments and have them "just work" with existing synths. As for synthesizers, just about anything is possible. Physical modelling is becoming more popular.