I can vouch for the KIA Sorrento too, I'm on my second one. The first was a KX 4 and my current is a GT Line S. It has the 8-speed automatic gearbox, self-levelling rear suspension and it tows my caravan with an MTPLM of 1615kg effortlessly. The warranty on the KIA is seven years which is two years longer than Hyundai.
During my five years of ownership, I have had the rear suspension units replaced twice after they seized up, the road wheels refurbished and an alarm fault which will be fixed when the part arrives, all covered by the warranty. I did get stung by the "Luxury Car Tax" also so, you do need to figure that into the equation.
Regarding the warranty, I always have my car serviced by the KIA dealership for peace of mind and there's never been any argument over warranty claims.
I also think the KIA waranty is more user-friendly than the Hyundai one. I was told that if my KIA developed a fault in another part of the country, I could take it to any KIA dealership and it would be repaired. According to my source, if the same happened in a Hyundai you would have to pay for the repair and claim it back. I don't know if this is accurate but, it's worth checking.