J.O.
Your best bet will be the Britax Frontier85 or Recaro Prosport, Graco Nautilus or Evenflo Securekid. These have a 5 pt. harness and will harness kids for a long time, with the Britax getting you to age 7 or 8, possibly. They also convert to a booster. Once the child turns 6 I would consider using a booster if the child was ready, but some kids might need more time. Note the Britax has the highest harness on the market. (We used the Prosport and my tall 6.5-year-old outgrew the harness, otherwise he'd still be in the harness; we converted to booster).
You'll want to use the booster until age 9-12...whenever the child fits the adult seatbelt and can 5-step. All kids are different.
I would put the 20-month-old rear-facing in the convertible seat.
Good luck!