I was wondering why I always felt like trying to hard reach the handlebar on the bike with 70° seat tube angle even though the distance between seat and handlebar is almost the same as the other...
The seat tube angle could be a contributor to that, but only as a small piece of a big puzzle. You'd have to look at the sum of your contact points to compare the two, not just the seat tube angle. Saddle-to-crank distance and setback. Saddle-to-handlebar distance and drop. Saddle angle. Handlebar width, reach, drop, and angle. Brake hood positioning. Crank arm length and Q factor.
Comparing the feel of two bikes by just the seat tube angle is like comparing two cars strictly by the number of cylinders the engine has. It's not a completely meaningless number, but it's just one of many numbers that add up to the whole.