Out of the three options, the Tata Safari is the one to go for, for its excellent ride comfort, both on the highway and in urban conditions. It feels tough, and flattens bad roads very nicely.
Moreover, it is more comfortable in all three rows than the Mahindra Scorpio N. Tata’s 2.0-litre diesel engine is punchy, although the Mahindra car has an edge in terms of refinement.
The Force Gurkha is the most rugged of the three, and the most capable off-road. But since you want a car for on-road driving, it is also the least comfortable, feels utilitarian, its diesel engine lacks performance, and there is a lot more body roll than the other two cars.