Since you want to upgrade from your Tata Nexon to a fun-to-drive manual car, you should consider the Volkswagen Taigun 1.5 TSI MT. The Taigun is one of the best handling midsize SUVs, and its 150hp, 1.5-litre turbo-petrol is one of the punchiest around. 

You could also consider the Skoda Kushaq or the Skoda Slavia/Volkswagen Virtus, but none of those get a manual gearbox option with the 1.5 TSI engine - only a 7-speed dual-clutch automatic. 

That is a difficult balance to achieve, but two cars come close to your requirements, the Volkswagen Taigun GT 1.5 turbo and the Skoda Kushaq 1.5 TSi. 

Both use the same engine, and their performance is on par with the Hyundai Creta 1.5 turbo, which already offers strong performance. The advantage of the VW and Skoda engines is cylinder deactivation, which helps significantly on the highway. 

When the engine is under low load, it can shut down two of the four cylinders to save fuel and improve efficiency. Both cars are well-equipped, too. We would suggest waiting for the facelift versions, which are expected very soon.

As per your requirements, you should choose between the Skoda Kushaq and the Volkswagen Taigun. Both midsize SUVs offer decent ride comfort, good high-speed stability and both come with powerful 150hp, 1.5-litre turbo-petrol engines. 

You'll also appreciate both SUVs' driving dynamics. Both are mechanically identical and differ only in terms of exterior and interior design. Dealers will also be offering sizeable year-end discounts on both.  

Since you prefer performance and like to drive, the Volkswagen Taigun or Skoda Kushaq will be a better choice. 

While we are yet to sample the Sierra on the road, it isn't the sort of SUV to be designed for spirited driving. An even better option compared to these would be the Skoda Slavia or Volkswagen Virtus. 

They are sedans, but still get good ground clearance and are superb to drive. The 1.5 TSI engine offers excellent performance, and they are well-equipped and practical too. 

You might want to consider the Kia Syros - a quirky, boxy compact SUV, with high-quality interiors and a surprisingly spacious cabin. It's a 60:40 split seats slide and fold too, adding flexibility, and its rear windows roll fully down, which is a positive for your pet. If you want something that's larger and more premium, you may want to check out the Skoda Kushaq and VW Taigun, both of which are nicer to drive, especially for your outstation trip.

It is hard to recommend a car without knowing more about your needs, like driving pleasure, mileage, safety, rear space, etc. However, on a broad level we would recommend the Creta. It is a very good all-rounder. The Venue will be better if you are looking for a compact car for crowded areas, and the VW Taigun is a good car for those looking for driving pleasure.