The car that fits all your requirements is the Maruti Suzuki Baleno. It is a spacious hatchback with a decent-sized boot. The rear space is decent for your family, it gives a fuel efficiency of around 12-13kpl in the city and around 17kpl on the highway. It is a refined engine, with good enough power for everyday use and occasional highway drives. The suspension is tuned for Indian roads, and it has decent ground clearance, too.