I use 'Free Midi to MP3 Converter' from Polysoft. It's free from here, or plenty of other sites through Google.
Highlight the midi file you want to convert, tell it where you want the MP3 to be saved, click convert. Job done. Single tune or batches. As it happens, I use it for converting ABC Explorer midis to MP3 to play in the car. Sounds familiar........
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sj