• Maruti Suzuki Brezza ZXI AT: Down on wow features to the Venue, but has a smoother gearbox, plusher ride, and more comfortable seats.
• Skoda Kylaq Signature+ AT: Again, not as well-equipped as the Venue, but it has a smoother gearbox and punchier engine. Space at the back is less, but it shouldn't be a deal breaker for you.
• Kia Sonet HTX Petrol DCT: It is due for replacement within a year, but it is very competent. Packs in plenty of tech and shares its engine and gearbox with the Venue, and is actually a better value for money. Space is less at the back, but it shouldn't be a deal breaker for you.
• Mahindra XUV 3XO REVX A: Stronger engine, lots of features, and feels tougher in its build. Boot space is less than the Hyundai car.

The Kia Carens Clavis is the ideal pick for your requirements. It's a well-packaged MPV that offers comfortable seating across all three rows. A one-touch operation for the middle row seat fold makes access to the last row easy. Also, there is ample movement built into the middle row to balance space for all passengers. 

The Clavis is also easy to drive and doesn't intimidate as some three-row SUVs can. From the Clavis line-up, the Turbo DCT HTX(O) is the one to buy.

Of the other three-row petrol-auto options, there's the Hyundai Alcazar, MG Hector Plus, Mahindra XUV 7XO and Tata Safari.

Both the Tata Nexon and Mahindra 3XO are tough-feeling and robust compact SUVs, and both boast 5-star Global NCAP safety ratings. Both models also get branded audio systems, though it's advisable to test them out for your preferences. 

Of the two models, it's the Mahindra 3XO that's the more complete package. It's better finished, better equipped and more spacious than the Tata Nexon. What also tips the ratings in favour of the Mahindra is its punchier petrol engine and slicker gearboxes - both manual and automatic. 

Where the 3XO loses out is in luggage capacity, offering less room than you'd get in a Nexon. 

Yes, seating three adults at the rear of the Tata Punch will be tight. Tata Motors has recently unveiled a new updated Punch; however, changes are to the features and engine, space inside will remain the same. 

We would recommend the Mahindra XUV 3XO as the rear is spacious, particularly in terms of width, which is what you will need to seat 3 adults at the rear. Moreover, the car has a comfortable ride and is well-equipped too. 

However, do not expect class-leading fuel efficiency as the engines are tuned with a bias towards a more lively performance.   

You wouldn't find a C or mid-size SUV with all of your requirements (especially level 2 ADAS) for under Rs 20 lakh. 

But if you can stretch it a bit, we would recommend the Kia Seltos HTX (A) variant. This would be just over your budget but will meet with all your requirements of ADAS level 2, a 360-degree camera, and good speakers (Bose). 

Moreover, it's an easy enough car to drive, and the 1.5 litre naturally aspirated engine coupled to the CVT gearbox works very well, especially in low and moderate city traffic. If you must stick within your budget, then opt for the Mahindra 3XO, which will meet all of your requirements, too.