I have traveled in xylo.
but it is like a big giant room in which you are travelling, you will not get feel of suv or any kind of car. it will just give you room or "daba" type feel.
for that reason you can say you are comfortable because it is more spacious.
if you want car for comfort and space and for passengers you should buy this or else I will not recommend it for family car or personal suv type car.