With six adults you will need all three rows of seating, so there probably wouldn’t be cargo space for the wheelchair. One passenger can sit up front, three will fit in the second row, and the remaining two will need to sit in the third row.
Another thing to consider is that the standard Minnie Van has higher seats, and although your passenger can transfer, will they be able to climb up into the vehicle? The accessible MV (from my understanding, we have not used one yet) allows the person to stay in their chair if needed. As three fairly mobile people, we sometimes have a little difficulty climbing up into a MV since our personal vehicles are closer to the ground.