If you're referring to the current generation Hilux, Yaris, 86, Corolla, etc, then yes, with some work. Details of my setup in this thread:
http://au.toyotaownersclub.com/forums/topic/45466-replace-2011-aurion-touring-steering-wheel-with-one-from-zr6-sportivo/#entry535290
Current gen Aurion however, I doubt it as it has a totally different shape and I have no idea about the wiring.