In short, yes
Ok here are the sockets from left to right on the bottom on the 2011+ model shown:
E3: Steering wheel controls, aux in, speed wire
E16: (ON 08-10) Rear DVD player, (ON 11+) Multimedia ECU
E8: 12v+, ACC, GND, Front L/R speakers, antenna amplifier
E9: Rear L/R speakers
Just ignore E16, it won't effect an install unless you have the OEM rear dvd player, then it loses its ability to work with the radio.
The top row on the right is:
E32 (2011+ ONLY): bluetooth mic wires
Basically all the wires go to the same socket/same pins except for E16 and E32. It should be totally plug-n-play. Those 2 sockets aren't necessary for radio function.
Well you already did 1/3 the radio removal by removing the HVAC controls. So do that again, then there are 2 AC vents above the radio. They are one panel, that needs removing. I can usually just grab it tight enough to pull it straight out with my hands, but if you can't get enough grip, you can use a small flat head screwdriver to wedge between it and the dash and force it out (READ THIS: make sure you put electrical (or some kind of) tape over the screwdriver, otherwise you WILL damage/scuff up the dash). It comes out by pulling it straight away from the dash. Then the radio is held in with 4 10mm bolts, 2 above the radio and 2 below. Remove those (they are obvious) and the radio slides out like the HVAC controls did.
More info here: DIY Radio and Subwoofer Install in 2009 Toyota Highlander