A Roman looking at the sentence "monkey eats banana" may wonder whether the monkey is eating or being eaten (not having any idea what a "banana" is). But if he was told a banana is a fruit, he could say Simius comedit bananam or Bananam comedit simius and it would be clear who was the eater and what was the eatee.
I think it is generally agreed that the Romans did not eat, or even know about bananas. Which makes it kind of strange that they had a word for it in your sentence...
What if . . . that Roman didn't know what a monkey or a banana was!
It would be "simius bananam comedit", since Latin is and SOV language.
I reject the premise of the article. SVO langauges do not as a rule allow for more complex sentence structures. On the contrary, some of the most complex sentence structures I encountered were by Cicero in his Catilinarian Orations. Latin is a highly inflected SVO language.
The same is true for Attic Greek. Some of the sentences in Plato's Apology and Symposium, as I recall, were so complex, that the author lost the grammatical thread and produced sentences that simply did not parse.
Inflected langauges are different, not more difficult for native speakers.