Nothing is needed to sort anything in this list, all have their own merits and very small limits by pricing and list of gizmos.
My choice for the new fresh car would be : If proper SUV - go for XUV700 it's worth the price.
If you can be happy with a compact SUV, then Hyundai Creta (Better network, better gearbox). When compared to DCT issues with Seltos.
From my knowledge, Seltos doesn't have Paddles.
Creta has paddles and also Ventilated seats, but don't know whether a full option automatic is there for Hyundai Creta, as Hyundais usually neglect that citing pricing.
The jeep is overpriced.
Harrier/Safari has niggles and poor service experience in most centres(Wait for minimum 2 years for their ASS to get strengthened)
I totally agree with VishnuCrazy when he says Harrier and Safari have their own set of initial jiggles and teething issues, so I would anytime stay away from Tata, even though Safari is a totally safe vehicle. A recent accident where a Safari rear ended a Polo last week near Ajmer is an evidence for my statement. But running behind the service station advisors for minor and major niggles once or twice a month with Tata cars wouldn't be an appreciable ownership.
Alcazar - Alcazar in Diesel is nothing more than an extended Creta, with a 3rd row. Puny 1.5L from that Creta, wouldn't make Alcazar an involving driver's vehicle. But if you need a car to take you and your family from point A to point B, with no much drive expectation, you can go ahead and buy Alcazar Diesel.
Note : Alcazar petrol with that 2.0:L petrol engine might be better to drive due to its bigger engine, especially with manual.
Also note: Alcazar wouldn't be safer than 3 safety stars, in my prediction. No much chances of Alcazar scoring 4 stars in safety aspect.
Jeep Compass - An exciting, within budget vehicle, but heavy and pocket-drilling maintenance cost is something you wouldn't be happy with, since I noted your dissatisfaction on the high maintenance cost of your erstwhile XUV 500 from your post.
KIA SELTOS - I wouldn't recommend, my friend, after being shocked and shivered with the recent topple accident of a Seltos that split into two, killing all three rear seated ladies on the spot. Little more than 2 safety stars in Seltos is not something we can rely on (Seltos on papers is 3 star safe, however the said 3 stars were scored only due to the additional very few points over 2 star threshold, and hence I wouldn't call Seltos a perfect 3 star car either. Sorry for my strong comment, as I am more concerned on the safety of your families' rear seaters.
HYUNDAI CRETA - Paying around 20L for the top variant for a car that shares the same platform of Seltos (3 star) and apparently Creta wouldn't score anything more than what Seltos did, in GNCAP or ASIAN NCAP or anyone for that matter.
XUV 700 - uncertain delivery date added to the foreseen niggles and issues in the experimental batch, and hence can't be a smart choice.
Now, if you have good sources of Moola, then I would second Vishnu Crazy in recommending you buy a decently used and maintained German, however, you need to accommodate stuffed moolah for its maintenance, as the per the foreseen and expected servicing cost, parts replacement, etc.
Fortuner - seems a good upgrade (whether new if Vitamin M permits; or preowned). Good T badge reliability, good servicing, good road presence, high stance as you and your family expect and are used to, and a full size butch SUV.
If I were you, with good source of Vitamin M, I would prefer Fortuner for peace of mind & reliable ownership, with affordable service and maintenance part.
If you want to save around a million or more, Toyota Innova Crysta would be another option, not sure if you would prefer an MPV or an SUV that you all prefer.
Run around these options, since there's no point in waiting for XUV700 till April, and you aren't sure if you would be delivered on April with certainty.