The Maruti Suzuki Brezza is a good choice for your requirements. It is economical to run and maintain, and promises a stress-free ownership experience. What also works in the Brezza’s favour is a roomy enough cabin, comfortable seats and plush ride comfort.
If you are open to the MPV body style, the Maruti Suzuki Ertiga is also worth a look. It’s comfortable and works surprisingly well as a chauffeur-driven vehicle. If you want a spacious vehicle within a small footprint, there’s also the Kia Syros that you could look at. However, maintenance will be costlier than with a Brezza.