IMHO both are excellent vehicles. Their layout, performance etc are very close.
The choice will be up to your personal preferences.
Test drive both, then decide.
Trev should be the right guy to advise you. he was bent on a Pajero, then eventually chose the Prado.
Drive the diesel versions as well! Fuel will never get cheaper. Regardless of what you read, the fact is that a diesel SUV will use 50-75% of the fuel a petrol engine uses. (I know, I had petrol and diesel engines with similar outputs.)