I belive gen 5 & 6 are compatible but gen 4 rims don't leave enough room for the bigger calipers so you'll also need gen 5 or 6 rims or aftermarket
If you check my thread you will see I used ST202 brakes without mods other than shaving the brackets, they fit under 14" rims and so do the ST182's. ST182 brakes are near identical to ours, the difference was the pads are wider, hardly worth the swap. The ST205 and ST185 require bigger rims as the disks are larger on these models. Also look at the V6 Camry, Lexus ES300 etc, they have similar size disks to ours with monster calipers and thicker disks designed to take much more heat. Whatever you decide to use, I recommend you have a brake shop fit them for you, they may require skimming, shimming or spacers. A/m brackets are expensive in my experience.
the 5th gen had 3 different brakes. series 1 st184 small rotor single pot, series 1 jdm small rotor twin pot(same as st165) and then series 2 (or all GRPA/ADM gt4s) all had the large 278mm rotor single pot. i've fitted the 278/singles to my st165 without issue, just a little bit of love to the dust shield to prevent rubbing( but i use 15in 7th gen or 16in wedsports) the std 5th gen series 2 rims are 15in.
