@ AMG Let us assume diesel because he has listed only diesel cars.
First up is your budget stretchable? Because i see you are looking at Santa-Fe and Fortuner too which is well above 20Lakhs.
Then you are too confused between SUV'S and sedans. First decide any one out of the two.
I would suggest you look at Skoda Yeti too, suits your requirements well. Easy to drive inside city , has got good interiors , comfort and legroom is good enough , feature packed FE is also good and the top-model falls well within your budget.
Another SUV i would suggest is Chevrolet Captiva. Engine has negligible turbo-lag , packed with features again , comfort levels are good. On the flip side a new facelift is just around the corner , only cosmetic though. Though you will have to stretch your budget to 22Lakhs for the top-end variant.
If its going to be sedan , i think you have still not seen Laura and Jetta. Do check them and i am sure you will be quite satisfied with both of them. New Jetta is also launching this month , do wait for it before deciding the car. Both Laura and Jetta diesel top-end variants will fall within your budget.
If you can stretch your budget to around Rs.25-26Lakhs then do consider the Superb and Passat too.
And coming to the cars you considered:
Cruze: A good car , VFM
but avoid it if you are tall and not comfortable with it.
Endeavour: Yes this car does not have good suspension and so handling is not very great.
Fortuner: In the name of luxury you don't get any features. Handling is good enough , no complaints from my side.
Aria- Even i don't know if its going good for long , but i have one which has clocked 15k KMS , no troubles faced so far.
Santa-Fe- I think Hyundai has stopped bookings already and you have to stretch your budget to 26Lakhs to afford one.
Safari- Your budget is good , target something higher than this.
Final conclusion , do check Skoda Yeti , suits you very well.