This is an area where cartographers and surveyors use terminology that is not fully aligned. There are actually 3 distances, shown on this diagram (which I have borrowed from https://community.myrockpile.com/t/what-is-the-difference-between-grid-and-ground/755, which also provides a partial explanation, and annotated in red)
What is shown on a survey (plat) is either ground distance or grid distance. There is generally a note on it saying which one, and giving a combined scale factor (csf) to convert between the two. This csf is a function of the (average) site elevation, relative to the ellipsoid, and the ellipsoid + geographical position given (in this case embedded in the UTM projection). For examples of the calculation see https://www.reddit.com/r/Surveying/comments/yoalwi/combined_scale_factor_calculation/ (reddit link, may go stale) or https://www.bluemarblegeo.com/knowledgebase/calculator-2020sp2/Scale_Factor_and_Convergence.htm (less informative but static).
What is used in GIS is either planimetric distance, which is the same as surveyors' grid [Edited: I originally mistyped 'ground'] distance, or ellipsoidal distance, which would be the measured distance along the earth's ellipsoid if the elevation were zero.
The advanced digitizing dialog uses planimetric / grid distance (see QGIS Advanced digitizing switch from Cartesian to Ellipse). You should either enter the distances as notated on the survey, or multiplied by the csf provided on the survey, based on whether the survey says distances are grid or ground. If you continue to use the same CRS, this should match exactly the length($geometry)
. In contrast, as others have said, $length
will return the ellipsoidal distance, which will be very slightly greater.
The difference between ellipsoidal distance and grid/planimetric is largely a function of the subtended arc of the earth surface, i.e. the overall distance being measured. In your instance, you have seen that it makes for a difference of about 1 part in 5000 at that scale.
The remaining difference to ground distance is largely determined by elevation in the region in question.