Considering you keep your cars for a long time, we would suggest the recently launched Kia Seltos. We recommend the petrol variant, considering you drive below 10,000 km per year. Within your budget, you can get the top-of-the-line GTX (A) or X-Line (A) variant with the CVT automatic gearbox. The 1.5-litre naturally aspirated engine, though not the most powerful on paper, has enough poke for city driving and is well-mated to the automatic gearbox, which makes city driving easy. It also comes well-loaded with features and includes Level 2 ADAS, which is one of your requirements.
If you are looking for extra performance, you can also consider the turbo petrol version, but the driving experience won’t be as smooth, and fuel efficiency will be lower. You could also consider the Hyundai Creta, which falls within your budget. However, note that the Creta is due to be replaced by early next year.