Given you were such a fan of your Citroen C3 Picasso, we'd suggest going for its successor - the C3 Aircross. It has a similar upright body to the Picasso but with the higher-riding stance of a crossover, so it retains the high driving position you want. It's also spacious inside for a relatively compact car and has a comfortable cabin. The driving experience is also biased towards comfort rather than sporty handling.

As an alternative, take a look at the SEAT Arona, which has a similar high driving position with a small footprint but offers the best level of comfort in the class.