For your requirement of a spacious, premium, driver-focused SUV for a tall family of four, the Skoda Kodiaq is the best fit among your shortlisted options.

It offers a solid build, premium cabin quality and a genuinely engaging driving experience, which aligns well with your priority of driving pleasure. For 6-footers, the front and second rows are comfortable with good headroom and support. Also, with the third row folded, you get excellent luggage space for long trips. The petrol automatic is refined and smooth in the city, while also feeling very stable and confidence-inspiring on highways.

The Jeep Meridian, while rugged and solid, does feel tight on space, especially for taller passengers, which you have already noticed. The Mahindra XUV 7XO is a strong all-rounder, but as you pointed out, the interior quality does not feel premium enough for your budget. The Toyota Innova Hycross is extremely comfortable and reliable. But it is more comfort-oriented than driver-focused, and the interior look, feel, and quality may not meet your expectations of a premium experience.

You can also consider the Volkswagen Tayron, which is essentially Volkswagen’s version of the Kodiaq. Both cars share the same platform, engine and core mechanicals, with the Tayron offering a slightly different design and more features. However, it is slightly more expensive, and the overall ownership experience will be very similar to the Skoda.

Both are very different cars, so the choice really depends on what you want from your 7-seater.

The Jeep Meridian is a proper SUV. It feels solid, has excellent ride quality, and really shines on broken roads and highways. The 2.0-litre diesel paired with the 9-speed automatic is relaxed and effortless at cruising speeds, making it a very good long-distance tourer. It also feels more planted and confidence-inspiring at higher speeds. However, the third row is tight and best suited for kids, and overall space isn’t as generous as the Toyota.

The Toyota Innova Hycross, on the other hand, is more urban in nature. It’s powered by a 2.0-litre petrol engine, with a strong hybrid option that delivers excellent fuel efficiency in city use. It’s significantly more spacious, especially in the second and third rows, and comfort is a big highlight. For family use and city driving, it feels easier and lighter to live with. Long-term ownership peace of mind is also a big plus, thanks to Toyota’s strong reliability reputation.

To sum up; 
Go for the Meridian if you enjoy driving, do long highway trips and want that SUV feel.
Take the Hycross if space, comfort, efficiency and hassle-free ownership matter more, especially for urban use.

While you can buy both the Tata Harrier/Safari or Mahindra XUV 7XO in that budget, since your budget ceiling is higher at Rs 40 lakh, why not consider the Jeep Meridian, which is a superior vehicle overall. It is larger, has a more luxurious interior and better badge value, plus, should you ever need it, solid off-road ability too. 

Its third row is not as spacious as the Safari's, but now that it is equipped with a sliding second row, adjustments can be made. If you can somehow stretch your budget past Rs 40 lakh, an even better option is the Skoda Kodiaq.