First gen Toyota Tacoma

Was wondering if I could put a 2020 Toyota RAV4 adventure wheels into a 2001 Toyota Tacoma. They have the same bolt pattern was wondering if brake calipers are going to be an issue

 

It may 'fit' the bolt pattern and clear the calipers, but you'll also have to consider the large diameter difference and clearance issues that could create.

As @Taco critter suggests, a test fit from a friend with such a RAV is a good plan.

 

Yeah, it's a 235/55R19 setup. With the Rav's stock tires it's over an inch wider and over 3"s taller. You would need to go down to a 235/45/19 in order to get close to stock size and keep the speedo accurate. No idea if it will rub full lock. I run 225/55R17 on my 5-lug and have no rubbing at full lock. I didn't measure to see how much space is left so I have no idea if 1/2" more width would rub.