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I am thinking of upgrading to crossover/small-suv, but I am not able to decide between CX-4, ASX and Outlander

My usage/requirements are:
- Mostly drive to-from work (that include driving on centenial hwy of wellington)
- Occassional Long trip (3-4 a year ~700K )
- Family with a young kid and expecting another next year.
- Occassionally grand-parents visit family (for stay of couple of months a year)
- Weekend drives with 2-3 kids to beaches and parks
- Wife not comfortable with driving/parking long/big cars
- Budget: ~38K

Following are my dilemma:
(1)CX-5:
(a) Pros: Best in class, Reverse camera/sensors, very economical on fuel
(b) Cons: Only diesel version has a good power output which are expensive. Petrol version may not be good for long drives (lack powers), and 5 seats

(2) ASX:
(a) Pros: Good tidy inside-out, reverse camera/sensor, economical to buy
(b) Cons: Not enough power, 5 seats

(3) Outlander: (Dealer is offering 6K discount on GLX mode)
(a) Pros: 2.4L, Fully loaded, 7 Seats, Comfortable, Good for long drives
(b) Cons: No Reversing camera, Big to drive/park.

Could you please suggest which one would tick all my boxes. And also feel free to recommend any other models that I may have missed ( I considered ix5 but found expensive, and Qashaqai which I found not great on drive).

Thanks,
Pritesh

You've summed all these SUV's up fairly well yourself. Obviously, if you need 7 seats, then of the ones you're considering, only the Outlander will do. However, it's also the oldest and is looking quite old now. Also, as you've pointed out, it is lacking in spec and is bigger than the others to park and heaviest on fuel.
The ASX is modern and pleasant enough, but the CVT transmission is not to everyone's taste and it's quite noisy on NZ course chip open road surfaces. However, if you don't mind those things, it's a good compromise.
As you say, the CX-5 is the most economical and has a good reversing camera. It also has sat-nav as standard and a fantastic 6 speed automatic transmission. It's also the most modern, is quiet on the road and by far the best handling in its class. But as you say, (like the ASX) the petrol versions aren't all that powerful. However, all things considered, I still think the CX-5 beats the competition at present and I think you'll soon get used to the power. Unless you can stretch the budget to a diesel CX-5 (or perhaps find an ex-demonstrator one) - then it's definitely the one to have.

Thanks for your response. I will keep an eye on cx-5 disel. Is it worth going for used cx-5 disel if it is available around mid 30k? And which one would you reconmend for 7 seat if not outlander?

I doubt that you'd find a CX-5 diesel in the mid 30's just yet as they're still quite a new model. However, if you could, it would be a great option.
Regarding other 7 seaters, as they're all in the slightly larger category, they're also generally outside the budget, so you'd need to be prepared to look at used examples. The Kia Sorento and Hyundai Santa Fe could be worth a look.