Sauter pianos have their own design double repetition R2 action which is close to the feel of a grand action. It has an extra spring that allows for playing fast repeated notes, trills etc.
Over the past 100+ years there have been many different ideas, patents, designs and features which were meant to improve deep repetition on upright pianos. Most involve some sort of additional springs, and more recently, magnets. While many of these configurations actually improve repetition quite a bit, there is still no vertical piano which has the feel
of a grand action, or gets really close to it.
This is because the "bump" or trigger point in a grand action is very defined, due to the direction of hammer travel in relation to gravity.
So: excellent repetition is possible in a vertical, but a "grand feel" is not. They are two different things.