Try another Kia dealer for a better deal? There are plenty around.
I'm not sure how much Sorento's are but we've owned quite a few 7 seaters in both SUV & people mover style & the SUVs are a bit useless (ranging from "why did they bother" to "they've almost got this right".
Have a look at the latest Honda - it's pretty good & the prices are keen. V6 Tarago is fantastic but probably a bit expensive. Avensis Verso was great when we had them (had 2) but is probably outdated now.
If they offered you $10k then I doubt your car is worth 2x wholesale. More like 1.5-1.8 x. It's 4 years old now so it wouldn't be unexpected to drop 50% off what you paid for it.
GL with sale
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