The Mahindra XUV7XO is a good option to consider. Since your running is high, we would recommend the diesel version, which also delivers well on performance and refinement. Within your budget, you would get a well-specced version like the AX7 or even the AX7 Tech.
The XUV7XO also rides very well thanks to new tech dampers (DCx) and it’s comfortable inside too. The third row is not as spacious as the Tata Safari, but since your usage is mostly 5 and occasionally 6 to 7 people, this should be ok for you.