Not sure if a Vanagon would qualify as crashworthy anyways...
About "small" 4WD rides with a front bench seat, what about a 2nd-generation Chevy Blazer? Even though I have never seen one with a bench seat, drop the one out of an S-10 and call it a day. If you prefer a 'Yota, I'm not sure about the newer ones but eventually you can get the seats of a Hilux truck which had some versions that, even though not fitted with a real bench seat, could accomodate 2 (rather skinny) passengers beside the driver.
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