What age and price are we talking about here?.
From reading previous posts, i believe the Avensis diesel, depending on age, uses a BMW diesel, which isn't that reliable. If that is going to be the case with the cars you are looking at, then the Hyundai would be my choice out of those two. Just be aware that if the Hyundai is still 'under warranty', that warranty will only be valid with full dealer history (regardless of what the seller, or indeed the law, in theory, says!)
Depending on budget, i'd also suggest you look at the Honda Civic estate diesel. This, while technically from the next size down than the Avensis/i40, is an extremely spacious car with an enormous boot (pretty sure it is bigger than your two choices). It has a very reliable engine and is capable of very high mpg (60+ easily).
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