We consider a class of nonlinear, spatially inhomogeneous kinetic equations of BGK-type with density dependent collision rates. These equations share the same superlinearity as the Boltzmann equation, and fall into the class of run and tumble equations appearing in mathematical biology. We prove that the Cauchy problem is well-posed, and the solutions propagate Maxwellian bounds over time. Moreover, we show that the solutions approach to equilibrium with an exponential rate, known as a hypocoercivity result. Lastly, we derive a class of nonlinear diffusion equations as the hydrodynamic limit of the kinetic equations in the diffusive scaling, employing both hypocoercivity and relative entropy methods. The limit equations cover a wide range of nonlinear diffusion equations including both the porous medium and the fast diffusion equations.