You should be looking at hatchbacks instead of sedans because you want more cargo space.
The Toyota Prius has one of the lowest cost of ownerships of any car. It is super reliable. On my 2005, I didn't even need to replace the brakes until 190k miles. Now it is at 257k miles and the only thing that has broken on it is the A/C and the sun visor. If you get a 2017 or newer model year, you'll get every active safety feature no matter which trim you buy. My 2016 has only had a broken windshield and a few recalls performed. It isn't a performance car, but it wasn't meant to be. The trunk has a lot of room, especially with the back seats down. It has been a Top Safety Pick or Top Safety Pick+ since 2010. I get over 55 MPG in my 2016.
If you want a car that is also fun to drive, the 2014 and newer Mazda3 Hatchback fits all of your priorities. Cost of ownership will be a little more than the Prius, but still cheap. If you can't stand road noise this is not the car for you. It is rated to get 39 MPG on the highway in the hatchback. The Sedan is 40 MPG, but you lose a lot of cargo space. 2017 is when the ride got a little softer without hurting handling.
My last suggestion is the Subaru Crosstrek. This is the best choice if you need AWD. It has decent trunk space, doesn't have the typical Subaru oil consumption problems, and offers a refined ride. It gets 32 MPG combined, so less than the Prius and Mazda3, but more than the Soul.
The Kia Soul is probably not the best choice for you because you want higher MPGs and the combined rating for the Soul is 29 MPG. Also, the trunk space is small behind the 2nd row of seats, so you'll need to put them down to open up the cabin.
May I ask, what year is your Santa Fe Sport? Was it the 2.4L?