I fear Bazza's observations may be a few generations out of date. SUV's these days, apart from a select few old school hard core examples (like the Toyota Landcruiser) are monocoque construction, so no separate chassis robbing interior space. Most SUV's these days are based heavily on 'conventional' cars in the manufacturers respective ranges, so there are no heavy duty suspension, axles, brakes or whatever else Bazza is imagining under the skin robbing space. With most SUV's, it is just a car, but taller.
Personally, for what you are describing, assuming you are fine with the complete lack on any handling finesse or driving dynamics, I'd say the Kia Sorento all day long.
Looking on Autotrader, I see a 2020 Sorento 2.2 diesel auto (200bhp) with 8K miles, from a Kia dealer, for £27249. That will have as much as 6 of that 7 year warranty remaining.
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