Having owned a Paj, D1 and D2, I'd go D1. $20k would buy the best D1 available with plenty left over for repair and mods.
I found the D1 superior in comfort to the D2, the extra space is negligable, admittedly my D2 is 7 seats as opposed to 5 in the D1.
Both are vastly more comfortable than the Mitzy.

