Given how tall the driver is, the obvious answer would be to skip past the compact segment and into the midsize sedan and SUV segment. However, at a budget of Rs 16 lakh, you would only get an entry-level version of most midsize cars. 

There are, however, two exceptions - the Citroen Aircross X and Basalt X. Both these crossovers will be available in fully loaded turbo-petrol automatic guises at just over Rs 16 lakh on road. 

With the latest X update, it now offers a good selection of features and upmarket interiors. The space and comfort on offer are superb, as is the 1.2-litre turbo-petrol engine and 6-speed AT combination. 

However, Citroen's service network is limited, so if you want an alternative, check out the Kia Syros. Though compact, it offers a lot of space, even for tall drivers.

We would recommend a three-row vehicle, as there are very few cars in which the second row of seats folds flat or can be removed. Two cars in which you can remove the third row of seats to liberate a large flat area are the Renault Triber and the Citroen Aircross X. 

Both are great options that offer comfortable rides and great space efficiency. The Aircross X is larger, more powerful and from a segment above, but the Triber is more affordable. Also it has a lower boot lip height, which will make entry and exits easier for your dogs. 

All things considered, though, the best all-round option for you is the Kia Carens Clavis, though it is more expensive than the aforementioned two. Not only is it a much better-rounded vehicle with more powertrain options (including an EV), it's also the most practical. 

It has a flat folding third row, which on its own frees up lots of space. Moreover, if you need more still, the second row will fold near-flat in the 7-seat version. You should be able to fit a mattress for your dogs with a bit of folding.

The Citroen Aircross X is quite unconventional in its design and has a certain appeal. As a product, the Aircross X is fantastic value for money. 

It doesn’t exude the same richness as other mid-size SUVs that are better equipped. Still, it makes up for it with solid fundamentals, such as a brilliant 1.2 turbo petrol engine, comfortable seats, exceptional ride quality, and easy handling. 

It’s pretty fuel-efficient, too. The only worry is the dealer network, which is quite poor and unresponsive, but we hear that after the X models of Citroen have been launched, the dealers are motivated to raise their game as well. This is certainly a car we would recommend, but with the rider that you thoroughly check out the Citroen dealer in your area before you sign the cheque. 

If you have back pain, you need a car with well-contoured seats and good lumbar support. In this context, the Mahindra Bolero and Mahindra Bolero Neo are not ideal choices. Their seats are not particularly supportive, and the ride quality is on the firmer side, which may aggravate your discomfort.

Instead, the Citroen Aircross X is a better fit. The latest updates have improved the interior quality, the seats are comfortable, and the ride quality is excellent. 

Its suspension setup does an excellent job of ironing out bad roads, making it a comfortable and back-friendly option.
 

Both the Honda Elevate and the Citroen Aircross have a very good ride quality and are powered by responsive engines. 

For your requirements, you would not go wrong with either. However, to quantify between the two, we would rate the Aircross better in terms of ride quality, engine performance and refinement. Thus, we would recommend you pick the Citroen since driving pleasure and ride quality are very important to you. 

However, make sure there is a dealer in your area and in the areas you plan to drive to, as the Citroen network is very sparse at the moment.   

The Kia Syros is a great option for you due to its spacious cabin and backseats, which recline for more comfort. Furthermore, its boxy design enhances the sense of space inside this cabin. Another good, spacious option is the Citroen Aircross X, which is a large car for compact SUV money. If you have a Citroen showroom near you, it is worth considering.
 

You haven't mentioned your budget, so it'll be difficult to recommend the right car. Since you've mentioned you want something as small as the Maruti Suzuki Baleno, the Hyundai Venue does make a lot of sense. 

You could go for the 1.2L petrol version too, since your usage is going to be minimal. The lower variants are great value for money. If you want a bigger car for similar money, you could look at the Citroen Aircross X. However, your wife will need to get used to its larger dimensions.

The Citroen Aircross X AT is a good SUV with a crucial USP being the extra set of seats in the third row. It isn't a 7-seater but more of a 5+2, which means the third row is good enough for kids and short adults for quick city drives. 

You can also remove the seats entirely and use the space as a big boot. The turbo-petrol engine is responsive and nice to drive, the ride is extremely comfortable, and it has a decent feature list too. If you want maximum practicality, the Aircross X is a good choice. 

The other option worth looking at would be the Kia Syros. The Syros has an unconventional design, but is excellent when it comes to space and packaging. It also has a higher level of quality throughout the cabin. Sure, it does not have an extra set of seats, but it has a spacious rear seat that gets ventilation for the base and a good degree of recline, too. 

Also, Kia's network is more widespread than that of Citroen, and that does help when it comes to after-sales and service.