I've had about 6 Prado's (company vehicles) from the 90 series right through to the current 150 series.
If I was buying for myself - I'd choose the Discovery Sport over the Prado.
The Disco Sport is very close in size to a Ford Territory - I didn't take too much notice of how much luggage space it had, but appeared to be plenty - though I would be surprised if it is more than a Prado. One thing I did note though is that there was plenty of leg room for rear seat passengers, even though I had the driver's seat adjusted right back.

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