Can't go to wrong with either of your choices, and probably the other suggestions too. Between the Prado and Pajero they are both great. . As Matty said the Paj has 3 tonne tow limit but tow ball download limit Over 2.5T .The Pajero has more poke and it is noticeably more, of course you can chip a Prado if that's your thing. You can add an extra tank to the Pajero for about $1200-1500 and gives you the range of the Prado. So it comes down to your preferences really, as I found out.
Fwiw
Prado is finished better, certain things on the Paj are poor quality, it rattles more etc.
Paj goes better, much better
Prado is quieter
Prado is roomier
Paj has more storage room, you can remove third row seats in seconds and utilize extra 90 litres of space.
Prado has bigger tank
[dons flame suite] Pajero has a more reliable driveline, very few injector issues , driveline failures etc reported on Paj forum. I think the D4D is better now but the Paj driveline is well sorted and proven.
Paj has the better transmission, seems smoother same Asin 5 speed from 100 series Crusier.
Paj seats are sh1t
you can go on and on, was no secret that after Toyota launched the heavier 150 series and raised the price they gave Mits a free kick with the Pajero. And many who would never have considered one before jumped in and found they are an excellent vehicle. Toyota appear to be sharper with the Prado now.
I guess if it was me the telling would be the van weight. They are only going to get tougher and more vigilant about GVM s etc. unless you can be positive you can keep your 17footer under 2500kg I would steer away from a Prado, but make sure you can keep your hitch weight under 180 kg for Pajero.
Good luck.