As you probably know, the i10 and picanto are essentialy the same car under the skin, with the same 1.2 engine mated to a torque converter auto, so it would really be down to personal preference. Good reliable little cars, but being a tc auto, they are going to be thirstier than you would probably expect.
There are other 'city cars' which are automatic, but will almost certainly be either a single or dual clutch automated manual which are generally best avoided. Having said that, someone was on here a month or two back raving about his suzuki celerio ags (which is a single clutch automated manual). The youngest celerio 'auto' on autotrader are 2015 and coming in at about £7k and would be considerably more economical than the kia or hyundai.
As GB pointed out, a toyota yaris cvt might be worth consideration. It is a bigger car, but not by a lot (especially re the i10 which really pushes the upper edge of what may or may not be a city car!). The cvt is well proven and combines the fuel economy benefits of the single/dual clutch automated manuals along with the smoothness of a tc auto. £7k would get you into a 4 or 5 year old car.
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