The Kia Carens Clavis is a good option to consider for your requirements. It is spacious, has room even in the last row for adults and comes with a diesel engine that will be better in terms of fuel efficiency than a petrol.
It is an able highway cruiser and is quite easy to drive in the city too, thanks to its light steering. If you are fine with a manual gearbox, the HTK+ (O) will offer a lot of features like sunroof, wireless charging and cruise control. If it is an automatic that you want, then the HTK+ will fit within your budget. This varinant get a 6-speed torque converter automatic that is smooth to shift.
The Clavis also has a comfy ride, and it fares well on broken roads. Ground clearance is plenty, too, and you will not have to worry about speed bumps along the way.