It won't hurt to test drive New Fiesta and Vios since those are the safer vehicles.
The Fiesta and Vios are more refined compared to the Avanza which is really more of a low-cost utility vehicle, I was surprised at how thin the doors were when I checked out the Avanza at a mall display.
If you want a simple car for going from point A to B, go for a New Vios.
If you want a safe fun to dive, good handling car, you can't go wrong with the New Fiesta (hatch and sedan have the same price).
We had the same problem before, but with a little DIY (some water, sand, and cement), we were able to fix the portion of our driveway and got that extra 1/2 inch of clearance we needed for the car not to scrape its front bumper.
The EcoSport would be a good option if you can wait for it, the current Kia Soul will soon be replaced since a 2nd gen Soul was already unveiled in other markets.
Fiesta
Vios
Avanza
The new EcoSport and 2nd gen Kia Soul

*The 2nd gen Soul might look like a facelift at first glance, but it's actually an all-new model based on the new Rio/Accent platform.