I am looking to buy an SUV with a plush ride, high ground clearance, good mileage and torque. My budget is under INR 20 Lakh.

There isn't any one SUV that gives you all of the above. However, a car that comes close is the Mahindra XUV700, although fuel efficiency won't be as good as some other smaller midsize SUVs. Do note that you will get a lower variant of the XUV700 within your budget, so if you are willing to sacrifice some premium features, it is the one to pick.