In terms of crash statistics, the passenger side and the driver's side are about equal in terms of side impact collision frequencies, FWIW, and a center installation is technically safer if possible to install there because it's farther away from either side of the vehicle. I personally prefer to tether rear facing to the innermost front passenger seat leg when possible if I'm installing behind the front passenger seat because it's closer to the center. I also prefer the innermost front passenger seat leg/rail rather than the front driver's seat leg/rail for a center installation because of the likelihood of the driver's seat needing to be moved on its tracks if the car is shared by drivers of varying heights. It's also good to bear in mind that rear facing tethering is optional for the convertible carseat models that allow it (Radians, Britax convertibles, and the Combi Cocorro) rather than required, and rear facing in and of itself offers added crash protection.
Bracing against the front seatback isn't allowed by every carseat manufacturer, but it is allowed by the Radian and by Britax convertibles, but it also has to be allowable by the vehicle manufacturer, too. It's probably not allowed to brace nor touch the front seatbacks with a rear facing carseat in your Prius if the car is equipped with advanced front airbags due to possible interference with the sensors for the advanced front airbags. If your Prius is equipped with advanced front airbags, then there's likely a warning blurb in the car's owner's manual (in the airbag section and/or the carseat related sections of the owner's manual) stating not to allow a rear facing carseat to touch the front seatbacks due to potential interference with the advanced airbag sensors.