I had a 2002 VZJ95 Prado, Dad has a 2005 FZJ80 and now I have a 2008 RZJ90 Prado (3dr).
Between the 95 and the 80, there is not much difference in size, the 80 is a little bigger but both have pretty huge cargo space, and are very comfortable for everyone riding in it.
The 80 would be more powerful, its impressive how much she can pull on such low rpms, but the prado's engine is a lot more agile (even though mine had a bunch of more weight in it).
The 80 series is more rugged, and can be abused a bit more without worrying about the prado's weakness -if it can be called that- the IFS. and the 80 can be lifted higher and modified much more easily than the prado.
Either way, you cant go wrong!
Hope this helps