Thank you for all the comments and insights. After evaluating everything, which included test-driving a co-worker's Zenix, I've decided to go with the 2024 Innova G 2.8 A/T.

Main reasons I chose the "G":
1. Ladder-frame robustness
2. RWD
3. Significantly more powerful engine which can still be economical at a press of a button
4. Being the last MMC of this generation, most or all of the bugs and kinks from the earlier iterations have been worked out

I've had my 1st gen 2016 Innova for close to 9 years (bought in mid-2015) and have had zero powertrain and suspension problems aside from having to replace the alternator pulley and other consumable parts (ie. brakes, tires, battery). There's not even a kalampag to speak of. This was also the last MMC of its generation and I can attribute to that the trouble-free experience I had with it.

I will miss out on the latest tech on the Zenix for sure, but it is substantially weaker than its predecessor in most other respects, IMO.