Yep, I've got 'em on mine (Speedie alloys) to match the camper for off-road work. Just keep the factory 17 in rims and rubber for road use when I'm not travelling.
Yes, I tried the 16 inch Alloy rims today (ROH7Jx16 off a Prado) and they cover ok. Just a note for others, they need tapered nuts (m12 x 1.5mm) and you”lol need a narrower jack head than the Toyota one. Supercheap sell a cross one with a 21mm end that fits.