this should be a tough decision.
they cost almost exactly the same (give or take a few thousands).

Tucson
+ gasoline engine! no scary D4D
+ all power
+ Hyundai #2 in 2005 JD Power survey
+ made in Korea
- it's not a Toyota
- much less cargo and passenger capacity

Innova E
+ turbodiesel! should be more fuel-efficient
+ all power
+ it's a Toyota!
+ ladder frame chassis, it's more SUV than the Tucson
- made in Thailand
- scary D4D engine woes

no sense comparing the Innova J since the J is power-nothing. While the Innova G (gas or diesel) is way over the Tucson in price (although much less than the Tucson CRDI).