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We too had a 1.6 petrol Picasso and found it similar to you.
We changed if for a 2.0hdi which was a big improvement.
Are you looking at brand new or secondhand?
I agree the 1.6 grand scenic will probably be a bit underpowered especially when fully loaded. We borrowed a 1.5dci G Secenic and I was quite impressed with the way it drove, we never loaded it up, but I thought it must have been the 1.9dci because of the way it drove.
A 2.0 petrol will be ok for your needs as will a diesel.
If you want to tow a caravan the torque of the diesel will be much better.
If you are worried about theextra expense of a diesel, try looking for a slightly older model, or even one with a bit higher mileage. As you say 10-12k is a little on the low side to warrant the extra initial expense of the diesel. But bear in mind that even though diesel is 2 or 3 p a litre more expensive the petrol it still works out cheaper, it will be cheaper to tax than a 2.0 petrol and probably cheaper to insure. Also come trade in time you will get more for the diesel than the petrol. Worth taking in the whole picture of ownership costs, not just initial cost.
Currently in SportTourer's garage:
2010 Laguna III SportTourer Initiale Tom Tom.