Softness / sharpness

did u check the focusing mechanism; for jpeg u also need to add a bit of sharpness which is applied in camera compressing befor saving the image to card - also try cleaning the sensor / focus plane; if there is any smokey layer on the filter which may help

guess sharpness doesnt have a benchmark to compare but both cams should give u dead clean pics - i use a d5100 and with proper techniques >90% of my images are sharp and usable with or without minimal processing