Having said that, the mid 90s Prados all come with solid live axles, and the Pajeros have had Independent Front Suspensions (IFS) for ever now. That translates to Pajeros being more comfortable on road, and the Prado's having the edge off the road. There have been lots of debates on solid axles vs IFS, the major difference being that wheel travel is often limited to 8 inches with IFS, whereas, solid live axles allow up to 12 inches easily. But depends on the kind of offroading you do, eg. in a rally, wheel travel doesn't matter as much as when you are climbing rocky terrain.
I also want to add that having driven both the new 3,2 TDi D-ID Pajeros and the new Prado 1KD D4Ds, the Pajero engine is outstanding, its that good.