From these three I will blindly pick scorpio without looking at your needs. Its not a better overall product but it commands that emotional attachment.
but then u should decide what you like. Test drive each. Dont go for measurements for space. See how well the space has been utilized.
tavera is a good car and more MUV like with better looks. I heard it gives good FE.
Toyota Innova I cannot comment much as I have only test driven it for a brief time. But being a toyota expect it to be built to a price with good reliability.
I would vote for mahindra overall though.
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