"you're stuck with pricey programs."

I have no commercial interest in Musescore, but it does transposition, lyrics and scores with as many parts as you like and it's free.

Its MIDI import capability is, apparently a little lacking but that's mainly the fault of MIDI itself which is a format designed for playback, not score layout. See Musescore File Formats for details.

As hinted at above, MIDI import from a manual keyboard is a messy compromise at best and not guaranteed to work perfectly with any software at any price.