Spacious and practical with a hint of adventure, it's clear to see why families are flocking to SUVs as their vehicles of choice. Seven-seat SUVs have become a popular alternative to the large sedans and people movers previously used on holidays, the school run and everyday duties. And they just keep getting better.

Drive reshaped its annual awards in 2015 to better reflect the growing SUV landscape. The latest Kia Sorento took out the inaugural Best Family SUV award in 2015, edging out rivals in the Ford Territory and Subaru Outback.

Kia's flagship has form as a Drive favourite - both in the current generation and its predecessor.

Tested here in mid-range SLi form with a 2.2-litre turbo diesel engine, the Sorento offers a solid 147kW of power and 441Nm of torque, using just 7.8L/100km of fuel to do so. Kia's diesel option is our preference as it features all-wheel-drive traction, unlike the front-wheel-drive Sorento V6.

Pleasant in presentation both inside and out, the Sorento features plenty of thoughtful touches including air conditioning vents for all three rows, and a separate fan controller for the rearmost seats.

While cargo space is a little tight with the third row in place, the Sorento offers a full-size spare tyre - a welcome feature on any vehicle with off-road intentions - and a powered tailgate to make access more convenient.

Judges were impressed by the model's versatility, saying "it does the job of a family bus very well", and that "it's a genuine seven-seater, the back seat isn't just for kids".

The Sorento also offers well-behaved dynamics on the road, though emergency manoeuvres on our test track revealed less grip than you might expect, and that its stability control system can become flustered in trying circumstances.

Shortcomings for the model include a lack of active safety features such as autonomous emergency braking, along with the slightly gruff voice of its diesel engine.

But that's unlikely to be a deal-breaker for families wooed by excellent practicality and the best consumer guarantee on the road: Kia's seven years of warranty, capped-price servicing and roadside assistance.  

Mazda can't match Kia's warranty.

But what the CX-9 Touring can offer is a more modern alternative to the Sorento, one with intelligent details including full air conditioning controls for the back seat, and a drop-down rear armrest that hides a smartphone storage space with twin USB chargers perfect for tech-savvy kids.

It also scores points for its updated infotainment system with a BMW-style rotary controller that allows you to whip through menus without stretching for a touchscreen, and for having a significantly larger boot than the Sorento (even if the spare tyre is a compact space-saver unit).

The big news for Mazda's newest model lies under the bonnet, where the brand heralds a return to turbocharging in the form of a quiet and efficient 2.5-litre petrol engine. While its 8.6L/100km fuel economy is a little thirstier than its rival, the Mazda's 170kW and 420Nm outputs make it feel much more energetic on the road, allowing it to reach 100km/h a full second sooner than the Kia.

Better still, the new engine is impressively quiet and refined. Mazda has addressed one of the brand's key shortcomings by tackling noise, vibration and harshness in the CX-9, which could be the most refined vehicle in its class.

It's been a long time since we could say that about a Mazda.

The CX-9 earned praise from our panel, with one judge suggesting "This is the most convincing Mazda I've ever driven", with others citing its predictability, presentation and outstanding braking as superior to the Kia.

Though it's a little dearer than the Kia, the CX-9 features autonomous emergency braking as standard across the range, a factor that may prove decisive for safety-conscious buyers.

We also like the way the second row slides forward to allow excellent access to the sixth and seventh seats, though Mazda blots its copybook by declining to offer air vents for rearmost occupants.

The CX-9's "Kodo" school of design also proved divisive, with more than one tester put off by its looks.

It's easy to argue the current-generation Kia Sorento is the best car built by the brand, and you could form a similar position for the CX-9.

Both are brilliant cars worthy of recommendation, and both received first-place votes from our judging team.

But the Kia couldn't quite match the backing earned by Mazda, which took a category win on the back of its superior refinement, excellent engine, active safety tech and thoughtful cabin.

It's enough to make the Mazda CX-9 Touring the Best Family SUV in the 2016 Drive Car of the Year awards.

Judges' votes

Mazda - 7

Kia - 11

(The Drive Car of the Year judging process awards points to every car in the category according to the position they were ranked by all six judges. The car with the lowest score therefore wins the category. If this vehicle defeats the existing category champion it is then eligible for the overall 2016 Drive Car of the Year award.)

2016 Mazda CX-9 Touring AWD pricing and specifications

Price: From $52,890 plus on-road costs

Engine: 2.5-litre four-cylinder turbo petrol

Power: 170kW at 5000rpm

Torque: 420Nm at 2000rpm

Transmission: Six-speed automatic, all-wheel drive

Fuel use: 8.8L/100km

• For all the latest info, visit our Mazda showroom

2016 Kia Sorento SLi diesel pricing and specifications

Price: $49,490 plus on-road costs

Engine: 2.2-litre four-cylinder turbo diesel

Power: 147kW at 3800rpm

Torque: 441Nm at 1750-2750rpm

Transmission: 6-speed automatic, AWD

Fuel use 7.8L/100km

• For all the latest info, visit our Kia showroom