Just had confirmation from a fellow Voyager owner, he removes the middle two seats and moves the rear bench seat to the middle position every year when he goes to France with his wife and three kids. It gives him the passenger seating he needs with loads of luggage space.
He has a short wheelbase Voyager.

 

I can't say about other models but as I mentioned earlier I can confirm that it fits on my 98 GV. I've used it in the centre position many times with the bucket seats removed. It rolls straight in and locks down to the bucket seat mountings. However, in the UK fitting 2 full sized bench seats will invalidate your insurance.

 

I am led to believe that due to me having the centre storage box fitted the two single seats are moved over slightly to allow the box to fit in between the seats .. under the carpet are the other anchor points.

 

my uk gv 2003 with center box
rear bench will fit in middle and and the two middle seats will fit in boot just and a 5 foot hutch will easierly fit in middle space
the bench in mine will not fold forward so would not be able to use 2 bench