I used to have the older Rega R3s and used them with the bass drivers firing inwards. (I preferred them that way.)
The RS3s will be ideal in the space you described. They are not at all fussy. Point them straight out (no 'toe-in') and use them as close to the wall as you need to.
Just don't go piling up your hifi/AV equipment (or any other stuff) between them. If you need a TV between them then wall-mount it.