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I have a Suzuki Grand Vitara Ltd 5 door Auto and find the fuel consumption higher than expected for a 2.4 motor and I feel it could do with another gear or two.
Can you suggest something to satisfy us.
The 4 wheel drive is not important but I like the driving position

It depends a lot on budget. Manufacturer's have come to realise that many people like the high stance of an SUV/Crossover type vehicle, but don't have the need for 4x4. Vehicles such as the Nissan Qashqai are 2WD and sit up high. Also, the Mitsubishi ASX, Hyundai ix35 and Kia Sportage are also offered in 2WD. With less weight and only two driven wheels, fuel consumption tends to be much better on these vehicles.
If it's an older, lower value vehicle that fits the budget, perhaps a Toyota Ipsum would suit.