RAV4 - 5 lug, 114.3mm pcd
Highlander - 5 lug, 114.3mm pcd
RX300 - 5 lug, 114.3mm pcd
(Same bolt patterns... the wheels will fit)
As for the tires, the Highlander tires run about 1/2 inch taller than the RAV4's tires. They should fit pretty easily, tho; 1/2 inch isn't all that much difference.
The 17 inch RX tires are the same as the Highlander. The optional 18 inch RX tires and wheels should fit, too.