Offset of around +35 to +40 in an aftermarket wheel will fit on the Sorento.
My new 20" wheels are an 8.5" wide wheel with +38 offset, 275/45R20 wheels and there are no issues with tire rub either inside or with the fenders etc. As long as you're not increasing your overall wheel 'diameter' or only slightly (an inch at most) you won't run into fender rubbing, or contact with suspension parts, inner fender well etc.
You can google 'tire and wheel upsizing calculator' or similar and you will find calculators where you can input various things to determine if your wheels and tires you are looking at will fit your vehicle or cause you issues with clearance etc.
The factory kia wheels on my Sorento (18") are +50 offset, so the +38 offset wheels that I got (aftermarket 20" x 8.5" wheels do stick out from the vehicle a little bit, but depending on the tires you choose, you shouldn't run into clearance issues with 20" wheels and tires.
The tires that came on my 20" wheels were 245/45ZR20 tires and they didn't stick out as much past the edge of the wheels/rims as much as the newer tires I got installed on them, which are 275/45R20. The first number is the tread/width measurement, so 245 is 245mm, where 275 is 275mm across the top edge of the tire (across the treads, from sidewall to sidewall).
The 'aspect ratio' or 'series' is the second number, 45, 55, 60 etc. and that is the percentage of the first number, so a 275/45R20 is a sidewall that is 45% of the 275 number. A 235/60R18 has a sidewall or 'aspect' ratio that is 60% of the 235 number. a 245/45R20 has a sidewall that is 45% of 245. So each number affects everything else in the tire size, the wider you go in the cross measurement (the first number 275, 245, 255 etc.) the taller the sidewall will be (45% 50% 60% etc.) and the bigger both numbers are together, the 'taller' the tire will be, or the larger 'diameter' or overall diameter of the entire wheel & tire assembly will be, so you've got to choose numbers that will work when taking into consideration the overall width and height of the wheel & tire, compared to the vehicle and the distance between the wheel and tire, and the fenders, inner fenders, suspension parts like the bottom of the strut tower in front, and the control arms/suspension arms in the rear that go from the 'axle' towards the front of the vehicle.
275/45R20 on a 20x8.5" wheel with +38 offset work on my 2014 Sorento EX V6 AWD, and I've seen guys on here with 22" wheels and they work with the numbers they chose (tread width, aspect ratio, offset, wheel size etc.) so it is do-able, if you figure out the numbers properly and get the offset correct.
I for sure would not go with anything less than +35 offset because you will most likely run into clearance issues at that point, as well as the look won't be right, if you don't like wheels and tires sticking way out past the fenders, like an offroad jeep or lowrider type of set up. You can always tell guys that bought used rims and didn't know anything about offset or calculating a wheel & tire package that fits their vehicle properly when they're driving down the street with wheels and tires that stick WAY out past the fenders, wheels and tires that rub or hit the body or suspension etc. Doesn't look 'good' and definitely isn't safe either.