Well out of the ones listed above the Innova & the Safari are both great cars to drive. I don't personally vouch for the Scorpio but as far as the new Sumo Grande is concerned its going to be powered by the same 2.2L DiCOR engine which is also found in the new safari. So that is bound to change a lot of things for the sumo - its performance, mileage figures as well as the driving feel. But we'll have to wait for it to finally hit the roads for a clear verdict.
But as far as the best SUV goes, if you were to look at the under 20 lakhs bracket, i think the CR-V is just way ahead of competition (the likes of Vitara, Endeavour, Tucson etc). Its a clear winner hands down for its sheer performance, luxury feel & exhilarating driving pleasure.
Another one to really watch out for could be the Captiva from Chevrolet thats just hit the Indian roads.