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yes they are road legal, well depends what ones u get but both normally pass an MOT,
Yes you can keep the normal set belts
4 point ones you should mount on a cage or welded in rear stut brace, or bolt in to the originl seat belt mounts in the rear. or drill some holes for eyebolts
Drill holes for eyebolts for the lap belts or bolt into original seat belts points/ seat subframe
Just make sure they're 'e' marked if you want them road legal. It's pretty easy to spot road legal ones - they usually have a large red button to press to release them. Demon tweaks catalogue specifies which are road legal.
just had a quick flick through the DT catalogue and it seems they don't advertise any cheap harnesses that are configured like that - only the expensive pro harnesses. unless you can find some, you're either going to have to pay (much!) more or drill and tap the bar - or source/make some sort of clamp-on bracket
on reflection, drilling/bracket probably not the best idea. may be you can get short extenders that have a loop on one end and an eye bolt on the other?
the expensive option is starting to look likely if that's what you want to do - and the aircraft release harnesses are much fiddlier to use
harnesses , if you call them and specify you want them to mount on a roll cage they will order them in for the same price. I'm getting one for my 200sx.