That's not easy to answer without knowing your situation in more detail, but if shopping new, I'd recommend the Sorento.
It's a fresher overall design with more smart thinking behind it, and a four-year longer factory warranty.
It offers the option of diesel if you prefer, but I'd be choosing the petrol for overall performance and refinement, with still decent real-world fuel efficiency. The petrol V6 Sorento is only available in two-wheel drive though.
Good luck, and keep us posted with your journey,