I do what Onyx said. DD2 is behind my seat. She can't run on the road or get out on her own, and the RF seat discourages the others from trying.
DD1 is in the centre as she can do her own belt and DS is on the curb side. DD1s seatbelt is also curbside to do up so it is easier with the Maxirider than with the RF seat there if I need to do it up.
We have a pajero and getting a child into a RF seat in the centre was a nightmare. It also meant that both seats had to be quite far forward.

You'll need to find very narrow seats for a Prado. We recently upgraded from an Outlander, and the Outlander was 9cm wider seat edge to edge than the prados...and the outlander isn't huge.