About the 2nd row, you are right. It will fold forward to let people out from the 3rd row. But sitting at the 2nd row, you can still adjust the 2nd row to move forward to get more leg room for the 3rd row. I think it is quite smart way to do so, so that you don't have to worry something stuck at the rail.
My opinion is Stepwgn is a driver's car, while Serena is a passenger's car.