Out of your choices, the Sorento and Murano will have the quietest interior and most confortable rides. But the Murano has Nissan's CVT, which is known to break. The Kia has the better infotainment system.
I strongly suggest looking at a Subaru Outback. They are more comfortable and easy to live with. They have safety features standard. Their larger infotainment system is a little hard to use, so I would stick to the base model with the smaller screen or go used.
The Subaru Crosstrek has an easier infotainment system, a comfortable ride, and the interior is a little loud.
The RAV4 is noisy, but rides pretty well and has an easy infotainment system. Same with the Seltos.