Yamaha Clavinova used to have much better design in terms of aesthetic and furniture (subjective though). See the stronger front legs in the 150 and 170 series that is more like today's Roland HP-207's legs; the beautiful music stand in the 860 and 880 series.
And the quality feel of the back case board. Put them side by side with the current models, you might see the difference better.
Larger image: here and here
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