Considering your needs, the Mahindra XUV 3XO AX5 in diesel-automatic guise will be a good option. While the Hyundai Venue is newer, the XUV has a more spacious rear seat and is better for five passengers.
It also has a more comfortable ride, and the engine is refined, too. Yes, the AMT gearbox in the XUV will not be as smooth as the automatic in the Venue, but that is a small compromise in what is an otherwise compelling package.

