As already suggested by our well experienced member @acechip
If you need a compact 5 seater SUV like Duster; go Yeti
If you wanna go places without carrying cumbersome mini bus size vehich with you; go Yeti
If you want it to be quicker than other so called SUVa and still be efficient and comfortable; go Yeti
If you want something that can go a mile extra over Duster AWD but still remaining a car size; go Yeti
If you don't want a vehicle which will start rattling after slight abuse over a couple of weekends; go Yeti
If you want a perfect city-highway-hills-soft roading-light off roading combo - Go YETI man!!
The likes of Safari, Scorpio, XUV etc are simply nowhere close to the way this compact Skoda drives and man that Haldex AWD system; it's so awesome that you will always love driving it. This system is so intelligent that it decides which wheel to give the power and how much even before the likes of Scorpio or Safari etc will even detect if there is a throttle input
I have driven a Yeti (Unlucky I am as I am never allowed to buy one) extensively in city, highways and hills and I can bet that when you buy a Yeti, you buy three cars altogether:
1) A large hatchback for city runabouts and ease of driving
2) A comfortable sedan for the sedan like sublime ride quality and comfort
3) An SUV which can go places and still try hard never to get you stuck anywhere
Your call now; but for your requirements and as an upgrade from Duster; I doubt if anything can match a Yeti 4X4. On commanding seating position:
Who needs it when you have enough performance on tap that sudden plans can be implemented and a size small enough to squeeze through most of the gaps easily??