Don't know about the compatibility but to get an understanding of the specific differences you can throw in the PZQ numbers in here and download the installation manuals:
https://toyotamanuals.com.au/accessoriesI fitted a PZQ6489145 to my 2016 SR and it came with the tongue shims that make the fitting quite snug and reduce rattle under load.
The PZQ6489160 does not appear to come with the shims and instead has a tongue anti rattle bolt but these are only meant to be used when unloaded. You can buy aftermarket shims. This variant also has a couple more bar end shims but doesn't specify the sizes to compare to the other.
Best ring a dealer and confirm the correct application.