The MITSUBISHI MOTORS team launched a new PAJERO/MONTERO Prototype for the 13th event. Following the completion of the Dakar Rally in 1990, SBM led the production of test vehicles based on the first Okazaki Proto vehicle, including lighter vehicles and engines with dry sump systems. After repeated tests through actual competition, Shinozuka won the Australian Safari. The 1991 model of the new prototype was completed by integrating the reshaped rear cowl from the Okazaki Proto No. 2 car, which featured excellent aerodynamics. The car had a lightweight multi-tubular space frame chassis and was equipped with four-wheel independent suspension, which was successfully inherited from the standard model. The engine was a 2.2L 4G63 gasoline turbo engine with a maximum power of 320PS and a maximum torque of 45kg-m. A new 6-speed transmission manufactured by Xtrac was added, which had a high-low switching mechanism to switch the transfer gear ratio.

The MITSUBISHI MOTORS team recruited Kenneth Ericsson of Sweden, who drove the Galant VR-4 in the World Rally Championship, in place of Cowan. Drivers Shinozuka, Lartigue, Fontenay and Ericsson formed a formidable team to take the 1991 model PAJERO/MONTERO Prototypes where they were meant to be, the Dakar. Masuoka, who previously took tenth overall in the modified production car class, continued to participate in a T2 specification long wheelbase PAJERO/MONTERO. Incidentally, that year, the 3L V6 gasoline engine was replaced by the 2.0L 4G63 type gasoline-powered turbo engine. This powerful engine was used in the GALANT VR-4 in the World Rally Championship.

The configuration of the 13th event was relatively simple, avoiding the detour from the previous year's route that ventured through Chad in the first half of the event. The competitors started in front of the Château de Vincennes in Paris and arrived at Lac Rose near Dakar after covering a distance of 9,186 km, of which 6,747 km were competitive stages (SS). The Peugeots did not participate that year but instead, Citroën from the same PSA group fielded four ZX machines. Ari Vatanen was still the team’s ace driver. There were also three Lada prototypes equipped with Porsche engines ready to do battle with the MITSUBISHI MOTORS team. A highly anticipated three-way battle was about to begin.

The African part of the rally started in Ghadames, an oasis city in Libya. Citroën's Vatanen promptly took the lead with the PAJERO/MONTERO driven by Lartigue hot on his heels. However, the French dropped back due to an oil cooler piping issue. On the last day of the first half of the heated battle, Shinozuka suffered his first retirement since his debut in the rally after a high-speed crash.

MITSUBISHI MOTORS achieved six fastest times, more than the total set by both Citroën and Lada, but Vatanen topped the final overall classification. However, while two Citroën vehicles relinquished the fight due to a fire, the new model PAJERO/MONTEROs demonstrated significant reliability with Lartigue, Fontenay and Ericsson following in second to fourth place in the overall standings.