Have you tried to test the second row of TATA Safari? I think it may well have more space there than both Duster and Scorp.
second row of safari is sofa on wheels.
Did try out the Safari, and the second row bench in it is magical, well cushioned and inclined and very well complimented by its suspension with doesn't throw the passengers inside the cabin left right and center, in a nutshell "I LOVE IT",
But where the Scorpio scores is engine smoothness, negligible engine noise and NVH levels, and the biggest factor considered by myself over a Safari is the turning radius of 5.6m of the Scorpio as compared to 6.0m or something of the Safari. It's pain making a U-turn in a Safari even on empty wide roads. Having driven several mini trucks now, I still find it hard to make a U-turn in a single go in a Safari and have to make that typical three point maneuver.
The Duster, however should be able to overcome most of the issues that a driver faces with Scorpio's bouncy/bumpy suspension, uncomfortable seats and Safari's huge turning radius, and also its age old leaf sprung suspension.
Coming on to the Storme, this should give some good competition to all the SUVs. IMO, its more of a contemprory vehicle with that classic age old design, better interiors, a susbtantially reduced turning radius of 5.4m (or 5.6m), and I presume coil spring suspension as against that dated leaf spring suspension. Seats, A/C, Ergonomics etc have never been a problem in the Safari.
In a nutshell, if you have a small family or a DINK family, drive majorly in the city with occasional or even often highway runs, Duster should be a smart move for you. Do TD it, and let us know of your opnions.
Also keep in mind the distance between your home/office and Renault's workshop, just in case the need arises.