I use car wash soap (milder than dish soap & won't remove wax -- same as I use to wash the truck) and a wash mitt, with a toothbrush for the nooks & crannies. And yeah, unless I'm in a big hurry, I clean the insides of the wheels when I rotate...
IIRC from when we bought our '05, SR5
was the base model, with 16" steelies standard and 16" aluminums optional. Might have been a regional thing, too.... Toyota seems to do that with option packages...