The Kia Seltos is a very good all-rounder, and the new-generation car has had focused improvements in ride quality and rear seat space, so this should meet your requirements for a comfortable car. Safety equipment is good, with features like six airbags and ESC standard across the range. The car has not been crash tested by GNCAP or BNCAP yet.
The Volkswagen Taigun has secured a 5-star GNCAP rating, and the facelift should secure the same too. However, in terms of comfort, it would rank behind the Seltos and will take a few months to arrive, with the Honda Elevate being later still. Thus, on the whole, we think the Kia Seltos is a good buy that you can happily go ahead with.