What model TM do you have? We have a 2720SL, and the front bed (folded out couch) is not at all that comfortable for two adults. Been there, tried that. The couch doesn't sit level, and one side is shorter than the other. All depends on how big the two adults are, I suppose, but we're not at all big and it wasn't good. For kids it's fine. That being said, closing off the back is likely easier than the front (much smaller opening), as you've already noted. The front could be doable, especially if you got some kind of child gate like you would use for a wide hallway, you could likely fashion brackets for the barrier.
As to the escape in the back, the newer (2009+) models have an escape window in the back, not just the "lift the bed" escape route.
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2009.5 2720SL
2006 Toyota Sienna
2018 Audi Q7
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