Volkswagen Virtus Topline MT

Go for the Honda City ZX CVT. For chauffeur‑driven parents, it offers the comfiest rear bench, ample legroom, and a smooth CVT for Bengaluru traffic within your ₹20-21 lakh budget.

Rear comfort is its strength: the 2,600 mm wheelbase helps knee-room, the rear seat is well-cushioned with good thigh support, and the ride is tuned soft for long trips. The 506‑litre boot easily swallows luggage for highway runs. 

ZX adds 6 airbags and ADAS with adaptive cruise control, useful on long highways. The CVT’s smooth creep and no shift‑shock make occasional city use easy. Versus your shortlist, Elevate’s rear bench feels upright, while Slavia/Virtus ride firmer and are more driver‑centric for back‑seat comfort.

The one thing you give up is ground clearance in comparison to the Elevate. Also, if getting in and out is a concern, the Elevate's high-set seats would make it easier. A test drive should sort that out. 

For now, we recommend the City for its hassle-free ownership experience, reliability and most of all, a refined and comfortable cabin. 

For your needs, the Volkswagen Virtus and Skoda Slavia are good options. Both cars are mechanically identical, so it ultimately comes down to which one you prefer in terms of styling and interiors, and which brand has a service centre closer to you. Performance from the 1.0-litre TSI engine is more than adequate for your highway trips, and fuel efficiency is respectable on the highway as well. The six-speed torque converter is excellent; however, in your case, since most of your driving is on the highway, the slick 6-speed manual is a fine choice.

Volkswagen and Skoda have had a reputation for higher maintenance costs in the past. But both brands have improved things significantly with their INDIA 2.0 cars, which include the Virtus and Slavia. 

One thing to note, however, is that facelifts for both models are expected shortly. While these are likely to be relatively minor updates, similar to the one the Skoda Kushaq recently received. The 6-speed automatic is expected to be phased out and replaced by a new 8-speed unit, as seen on the Kushaq. Do consider this in your purchase decision.

For your aged parents, the Mahindra Thar Roxx can indeed be uncomfortable. Getting in and out requires effort because of the high step-in height, and since it’s based on a body-on-frame chassis, the ride tends to be bumpy. There is noticeable body roll as well, which can make senior passengers uneasy, especially on rough roads.

The Volkswagen Virtus 1.0 TSI is a sensible alternative within your ₹18 lakh on-road budget. It offers strong safety credentials, solid build quality and is genuinely fun to drive. The 1.0 turbo-petrol has good low- and mid-range punch, making it enjoyable both on highways and mountain roads. It’s stable at high speeds and feels planted in corners.

On bad roads, you will need to be a bit careful, as it’s still a sedan, but the ground clearance is decent enough for most situations if driven sensibly. If your usage is a mix of highways, hills and occasional rough patches, and you want a safer, more comfortable and still engaging option, the Virtus is a well-balanced way to go.