If you want to buy any of these SUVs, we suggest increasing your budget by ₹2-3 lakh. At a ₹10 lakh on-road budget, you will have to settle for the lower variants, which is a personal choice but does mean missing out on key features. 

Within a ₹10 lakh budget, a good option for you is the Hyundai Exter. It allows you to choose a fully loaded variant that comes with an 8-inch touchscreen, sunroof, cruise control, wireless phone charger, rearview camera, and other useful features. It gets a smooth and refined 1.2-litre, 4-cylinder engine that delivers power in a predictable and easy-to-manage manner. 

Since you are a new driver, opting for the AMT would be a sensible choice, as it adds to everyday driving comfort and convenience.

Amongst the cars you mentioned, you can consider the Tata Nexon or Kia Sonet. 

Both the Tata Sierra and Kia Seltos are good picks. The powertrain to pick in the Sierra lineup is the turbo petrol variant, however this iteration is only available in top variants. But this will be a couple of lakhs above the price band suggested by you. The 1.5-litre NA engine in the Sierra lacks the punch and is noisy. 

Instead, we would suggest going for the Kia Seltos, which gets well-equipped lower variants, and even the 1.5-litre NA is smooth and responsive. 

Your worry around charging infra is well-founded. While the infrastructure is growing fast, it remains unreliable. EVs make good city cars if you have home charging, highway driving requires planning. 

Tata Motors is is actively working to improve service perception and quality. However, it continues to be a common concern among buyers.

Given your priorities of good after-sales support and fuel efficiency, you can go for the Kia Seltos 1.5-litre NA petrol. The claimed mileage of around 17 km/l is competitive in this segment, and if you drive with a light-foot, you can get good mileage.

Considering your requirements, we would suggest the Kia Seltos HTX CVT with ADAS.

For daily city commutes, the 1.5 litre naturally aspirated petrol engine paired with a CVT automatic feels smooth, refined, easy to drive and offers a comfortable ride. It is also well equipped and gets all the features you are looking for and more. For occasional highway use, this engine and gearbox combination has enough punch as well.

An alternative is the Hyundai Creta, which uses a similar engine and gearbox, but the Seltos feels newer and better specced. Another option is the Tata Sierra, though its 1.5 litre naturally aspirated engine does not feel as effortless as the one in the Seltos.

The Maruti Suzuki XL6 would best suit your requirements of mileage and performance. Against the others in your shortlist, the 1.5 litre petrol engine in the XL6 offers decent performance and refinement, but a noticeably better fuel efficiency. The engine has a mild-hybrid setup and, in our standard test cycle, returned a figure of 9.2kpl in the city and 17.0kpl on the highway. 

We assume, of course, you are comparing petrol versions across the three MPVs in your shortlist, given that the XL6 comes with only a petrol engine. If not, the Kia Carens and Hyundai Alcazar also have diesel engines, and these versions would be more fuel efficient than the petrol XL6. 

While there aren't too many compact cars with ADAS features, the new Hyundai Venue is one of them. It's a great all-rounder with improved ride comfort and rear-seat space, a high-tech infotainment system with excellent graphics, a wide array of engines and gearboxes, and loads of safety features, including the aforementioned ADAS. 

Another good option is the Kia Syros, which has all the features of the Venue, but even greater rear seat space (and ventilated rear seats). It costs a little bit more, and its look is not to all tastes, but it offers quite a bit more.

We would recommend you look at the new Kia Seltos. The new car is built on Kia's latest platform, bringing in some new tech, including the ability to have over-the-air updates for many modules. 

This will be handy for you, given that you are planning to keep the car for a long time. Also, given that you are not so enthusiastic about driving and your running per month is very low, we would recommend the 1.5 litre naturally aspirated (NA) petrol engine coupled to the automatic. 

The autoxbox is a continuously variable transmission (CVT), which is quite smooth and, with the 1.5 NA engine, does a good job as a daily driver in the city. Lastly, of course, Kia's are generally reliable and should do you well over the course of your ownership.