Voted for the Tucson.
Looks like we are/were in a similar situation. I have a 2010 Honda City manual and was in the market for an automatic SUV.
I finally got the Tucson diesel automatic. I did test drive the Jeep Compass diesel automatic too. My observations were along the same lines as yours:
1. Ride: The Jeep Compass had a much stiffer ride compared to the Tucson.
2. Interior Space: The Tucson has much more interior space both in front and in the rear. In fact, when I sat in the Jeep Compass' driver seat, I felt like I was placed in a thermocol mould with the door and center console wrapped around me tight. While this might be good for fast switch-backs going to a hill station, 99.9% of the time it feels like a lack of space.
3. Price: Given that the Jeep offers the diesel automatic only in the 4x4, I felt I’m paying a few lakhs extra for something I don’t want at all.
4. Gearbox: The new gen 8-speed Hyundai torque converter gearbox is brilliant. As many have noted in Team-BHP, I rarely find it picking the wrong gear. And whenever it does pick the wrong gear, it’s always on an incline. The Jeep's 9-speed gearbox feels dim-witted in comparison.
Some additional things I wanted to mention:
1. Safety: This is a CKD, with some localization from what I read. Globally, the Tucson is a Euro-NCAP 5-star car. So, the one you get here in India should be very close to that (if not the same) given that localization generally starts with non-critical parts.
2. NVH insulation: Much better on the Tucson.
3. Servicing Cost: The Tucson comes with a complimentary 3-year service and maintenance package. So practically, you will be paying little (not nothing as Hyundai would have you believe) for servicing for the first 3 years.
4. Warranty: You get something called a Wonder Warranty with the Tucson that gives you flexibility to select years / kms from 3 options. So, if your usage is less, you can select a 5 Year / 50000 kms warranty. And you don’t have to pay anything extra for this, this is how the base warranty is structured on the Tucson.
5. Ground Clearance: As moongazer also mentioned, the figure of 170mm is mostly laden, not unladen. I've NEVER had a problem with the Tucson's ground clearance over road humps even at speed with 3 people in the car. Having driven a 2010 Honda City, I’m all too familiar with the "Crap! Speed bump! Quickly, turn turn turn! KAARRRRRR! Damn it!" routine.
6. Discounts: You should be able to get a sizeable discount on the Tucson.
7. Waiting period: Very less with the Tucson. For me, from booking date to PDI date was 5 days. Manufacturing date as per the VIN was the previous month and SA told me it was about a week before my booking date. Jeep had a 1 month+ waiting period when i was checking. I know you are in no hurry, but just thought it worth mentioning.
8. Tyres: Despite my Bridgestone hopes and dreams, I got mine with Nexen tyres. As many in Team-BHP have noted Nexens are relatively noisy and do not last very long.
9. Parts availability: This car will become "previous-gen" in a year and is a CKD to boot. But I think out of all manufacturers, Hyundai would be very close to the top of the list to be able to get spares for old cars. Non-critical parts will get delayed as other BHPians have mentioned, but you will get them. My mom's 10-year-old Elantra had its fuel pipe lunched on by Mr Rat. We were able to get a new fuel line in a day.
To be fair to the Jeep, wanted to point out its plus points:
1. Looks: Gorgeous! No denying that. It also looks more like a traditional SUV which I personally prefer. The Tucson was lower down in the looks department for me.
2. Handling: Like a car! Will be brilliant in ghat sections.
3. Build: Main battle tank! It feels heavier in build compared to the Tucson. Closing the doors was like doing the Chest-Fly exercise.
Why didn’t I want to wait for the new Tucson and was fine with the current one:
1. I absolutely hate Hyundai's new over-the-top, look-at-meee, i-is-very-different design language that they have in the current Creta/Elantra and new-gen Tucson. The current gen Tucson is understated and looks classy and elegant. It’s like James Bond in a tuxedo vs Lady Gaga at a concert

.
2. It will be more expensive than the current version by 2-3 lakhs at least looking at the typical increase in price with a new generation Hyundai car. And there will no discounts for a while. This will make the final wallet damage even more. My budget was already stretched so the new gen Tuscon would snap it.
3. Launch of the new gen should be mid to end of 2022 based on I have read and heard. If i had to wait that long, I would have scratched my already old SUV-itch so much it would have turned gangrenous!
4. Call me old fashioned, I personally don’t find the interiors as outdated as some others do. The well-built nature and premium quality of materials overshadows the slightly old design for me.