After much research, finally decided to buy Ford Freestyle, which was delivered on November 9, 2018.
Pros: Value for money, Best in class features (HLA, TCS, ESP), High Ground clearance,
Cons: Just nitpicking - No center arm rest, No leather seats, No 60:40 split back seats
Overall just love this car. If you are still confused, just take test drive of i20, Swift, Baleno and Feestyle back to back. I am certain you will book Freestyle and come out of Ford Showroom (It happened with me !!!!!!).