Aaah sounds like it's the bucket seats which are causing the problem.
Yes, I think the Adventure would be more protective than the Bubble Bum as at least it has a bit of head protection. As your seats are somewhat "stuck" in the middle of each car seat with not much side movement, every centimetre will likely count. And the shape of the child seat bases might make a difference as well.
Is the Minikid fitted in compact mode or extended leg room mode? I am thinking extended leg room might give you a bit more hip space for adults, if you can fit it behind the front seat (or in the middle). Or Minikid presumably is wider than an infant carrier - Minikid in the front? You cross the tethers and put them through the seat and tether just as you would in the back. You might need to get a towing mirror.
I also think the Britax seats are supposed to be a bit slimmer than the Axkids, but I can't be 100% sure on that - I haven't owned either. If going for front seat ERF, Britax Two Way Elite is shallower so you can apparently see over the top of it.
You probably would gain from asking on the ERF groups, simply because you can ask people to measure their boosters and ERF seats at various parts, which is more use than a generic width measurement on a website, because they never explain which part of the seat they are measuring from. And you can't go to shops at the moment and test them out - maybe there will be time before you're due, though?
You could always not mention the bubble bum and pretend it hasn't occurred to you? :o Just ask how to fit everyone in. If they don't come up with a better solution, you can always go back to it.
If you do end up doing bubble bum I would stick the 6yo in the middle seat so they are furthest from the sides which gives them some protection in a side impact.