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You've singled out two of the best in the class. Others to consider are the Mazda CX-9 and the Toyota Kluger, but it's hard to go past the Sorento and Santa Fe. Comparison information is available if you click on car reviews and go to the models you are interested in.
All of the models you list would do the job you want well, so it comes down to personal choice. Add in the Kia Sorento and you have the field pretty much covered. The Sorento generally gets the most ticks from CarsGuide reviewers.
The Soul ticks a lot of boxes. It's roomy, comfortable, safe and practical, with a high riding seating position and good visibility. But it's not the most economical, and it has a space-saver spare wheel. For more info check the reviews of our road testers.
All of the vehicles are worthy choices, but you need to be careful about the towing ratings of them. The Kia Sorento, which would be my choice, is rated at 2000kg, which is right on your towing requirement. Others, such as the 2WD Everest, are rated to tow much more. Others, like the Mitsubishi Pajero and Toyota Prado, are full-on 4WDs, and would seem beyond your needs.
You first need to decide the level of off-roading you will be doing because that will determine if you need a four-wheel drive or you only need an all-wheel drive SUV. From what you have told us I suspect that an SUV, such as a Kia Sorento, Toyota Kluger, or a Nissan X-Trail would be the best all-round vehicle for you. All of those would fit your budget, they will all go off-road to a reasonable degree, and they're all reliable. The Mitsubishi Triton is a hard-riding ute, which I don't think is what you want, but the Suzuki Grand Vitara is a good vehicle and would also fit your needs.
Basically the drivetrain is biased towards economy when Eco is selected, so you get better fuel consumption. When you select Sports mode you get better performance and will lose a little economy.
If you're using mostly it around town, as I suspect you are, the consumption is about what I would expect.
Kia's own claims for fuel consumption for urban (city) use is 15.1L/100km, and the driving range is a little over 500km, smack on what you say you are getting.
The average of combined urban (city) and extra-urban (country) is claimed by Kia to be 10.9L/100km.
The bottom line is that it's a big blob of a vehicle with a relatively large engine doing the work, that's not a recipe for fuel low consumption.
If the diesel has worked for you then I don't see any reason why you shouldn't buy another one. Do your sums on the cost of running a diesel versus a petrol engine and if that works out in favour of the diesel, and you haven't had any issues with the DPF then I would stick with what has been good for you.
Range Rovers are great, but they can be expensive to run and service.
I would strongly recommend the Sorento, particularly if you find it gives you the comfort and support you need.
I would get a second opinion on the Kia's engine before you do anything else. A sludged-up engine suggests a lack of servicing, but if no damage has occurred you might be able to salvage it. I wouldn't recommend either a Multivan or Valente, those you are looking at are too old and potentially too expensive to run and repair. A seven-seat SUV might be a better option.