Both the Toyota Innova Hycross and the Mahindra XUV700 are good options considering your requirements.
Between the two, however, the XUV700 would have the edge with respect to your two requirements for ride comfort and safety. Do bear in mind, though, that a facelift is due next month, and thus, if you are going in for the Mahindra Car, we would advise you to wait.

