Of the two cars you've suggested, and given your requirements, we would recommend the new Kia Seltos. 

For one, you'll find it a more natural upgrade from your Hyundai Venue 1.0 Turbo DCT, as both cars come from the same Hyundai Group family and use related hardware. That being said, the Seltos is built on a new-gen platform called K3 and comes with far more advanced tech. Especially when it comes to the infotainment system and connectivity. 

Because the Seltos engines are unchanged from before, we know what to expect from them - whether the 1.5 naturally aspirated petrol or the 1.5 turbo petrol. Since your driving is 60% city, we would stick with the 1.5 petrol IVT, as it is the smoother and more efficient powertrain overall. 

Kia, like Hyundai, tends to be reliable in the long run - as you've no doubt seen with your Venue - and maintenance costs are reasonable too. The Tata Sierra has promise, but its all-new engines are as yet unproven, and in our experience. While its 1.5 turbo petrol is smooth and powerful, the 1.5 naturally aspirated petrol feels underpowered in this size of car.

When it comes to the latest tech and features, within your budget, you should check out the Kia Seltos GTX. Its latest infotainment system, powered by NVidia hardware, is among the slickest around. It includes high-res graphics, bright colours, and an extremely sharp parking camera display. 

It's also a software-defined vehicle (SDV), meaning functionality can be added or fixed with an over-the-air (OTA) update in future. And the best part is, you can choose to have it with or without ADAS functionality. While retaining all the other fully-loaded features, both of which will fit in your budget of Rs 22 lakh. 

Given your limited running, stick with the petrol IVT, as it is the smoothest of the three powertrains. The turbo petrol DCT is also a good option, but you may find the gearbox jerky at low speeds.

The ex-showroom price of a Toyota Urban Cruiser Taisor S AMT is around Rs 9 lakh, while a Kia Sonet HTX DCT costs Rs 2.50 lakh more. For the extra money, the Sonet gets you a more powerful turbo-petrol engine. Also, a more advanced dual-clutch automatic transmission, which makes it a better performer than the Taisor's 1.2-litre naturally aspirated petrol paired with a 5-speed automated manual gearbox. 

Additionally, you get a lot more features too, like a sunroof, ventilated seats, etc, which justify the premium it commands. The Taisor will certainly be more efficient than the Sonet. But on the whole, the Sonet DCT is the better pick, and since you can afford it, go for it, for a superior drive experience.

Go for the Tata Safari turbo-petrol. It is far more suited as a seven-seater than the Mahindra XUV 7XO, due to a more spacious third row. Also, the Sierra's touchscreen and user interface are far simpler than the Mahindra's, which can feel a bit overwhelming, at least initially.

While we haven't extensively tested the Safari turbo-petrol, expect single-digit fuel efficiency in urban conditions. It is expected of such a large SUV. If running costs matter, then you could consider the diesel version instead. 

Relatively smaller and easier to drive 7-seater options are the Hyundai Alcazar and Kia Carens Clavis, which come with turbo-petrol and diesel automatic options.

Between the three cars you have shortlisted, the Tata Sierra Adventure Plus is the nicest, especially because of its turbo-petrol engine and torque converter (automatic) combination. Its powertrain will feel smooth, refined and powerful, good for city and highway driving, both. 

The Kia Seltos turbo's dual-clutch automatic can feel a bit jerky at low speeds or in bumper-to-bumper traffic conditions. If your usage is mainly in the city, opt for the 1.5L petrol-IVT instead, which is a far smoother option. 

Since you have the budget, and don't mind opting for a larger car, we'd rule out the Mahindra XUV 3XO as the Sierra Turbo-AT or Seltos 1.5 Petrol-IVT deliver a more premium overall experience.

Since the majority of your driving will be in town, the Kia Seltos IVT is the better pick. The gearbox is very smooth and free from the 'rubberband effect' (sharp rise in revs without corresponding increase in speed) that CVTs are notorious for. The IVT is well in tune with the 1.5-litre engine's characteristics and adapts well to driving style too. There's enough power for relaxed driving on the highway too. 

The 1.5 Turbo DCT is a sportier pick. You can feel the big jump in power when driving on the highway, and the quick shifts are also fun when you drive enthusiastically. However, the DCT does occasionally fumble at low speeds, which is the very environment you'll be spending most of your time in.