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The rear suspension on the 2007-2012 Highlander is different than the RX. The 2013-19 Highlander has the same rear suspension as the RX.
So you may get some rubbing depending. If you already bought them, then just put them on and pay attention to noises etc. Spin the wheels before lowering the car to see if there is any rubbing. But once lowered and with additional weight from drivers, cargo and gas it may rub due to being lower on the springs etc. I guess you can resell them if it does not work. Why are you doing this?
I picked these for a friend's RX. 17" OEM rims, 245/65R17 tire. No rubbing whatsoever. Can't remember if they were for an 11-13 Highlander, or an 07-09 ES350. I think an ES350 though (but mounted on an 11-13 HL), and despite the 10mm higher positive offset, they don't contact.
I wouldn't buy 17" for these unless the seller lets you test fit first. These are perfect as they were cheap, and no tears will be shed if they get curbed or damaged - as they're just beater alloy wheels for the winter.
I think it will fit. I just need to buy 4 new 17 inch wheels and take the old 17 inch old snow tires off the aftermarket Benz GLB250 4Matic wheels and mount into the 4 new 17 inch wheels.
I just have to mind the slight difference in MPH.
I used the calculator and came up with the following