The choice of car really comes down to what you are looking for, without knowing this its hard to pinpoint one. If you drive mostly in the city, the Harrier would not be a good option. It is large, and even though the steering is light, the car does not really feel nimble. It is best suited for highways and longer drives.
Between the Tata Sierra and the Kia Seltos, the Sierra has the more classical good looks, and you will also get more equipment like a three-screen setup, an air-purifier, a better-sounding audio system and a powered tailgate. However, you will have to pay more than the Seltos. Thus, if you are strict with your budget, then the Kia Seltos will be a good all-rounder.