All the models you have shortlisted have their highlights and weaknesses. The Maruti Suzuki Brezza is a well-rounded vehicle that excels in space and comfort. Maruti's service network is a huge plus in its own right. However, as you rightly identified, the Brezza is not exciting to drive. This Maruti Suzuki car's performance is fine in city driving conditions, and it will cruise comfortably on the highway. But the engine lacks punch in case that's important to you.
If strong performance and good handling are requirements, the Skoda Kylaq and Mahindra XUV 3XO are the ones to be most interested in. Both models are good to drive, but fuel economy could be a concern in bumper-to-bumper city driving.
We feel you will find a good balance in the Hyundai Venue 1.0 Turbo DCT. The engine is strong enough, and the gearshifts are also nice and quick. DCTs do tend to fumble at low speeds and aren't as smooth as torque converter autos. Although, it's not really an issue and surely not to the extent of avoiding the gearbox type altogether.
Fuel economy should also be better than what you'd get with a torque converter. The new Venue is also quite a wholesome package. The cabin is quite spacious, and the material quality is impressive.

