Of course you can.

The rubber seal under the shift boot should be the same on all 4wd manual trucks, SR5 or not.

The cosmetic rubber shift boot goes over top of this and is held to the floor by a stamped steel retainer with four screws. The carpet tries to hide that retainer and the factory used a piece of velcro to hold the carpet together around the boot.

Around the hole in the floor, the mounting holes for the retainer may be the same. But if not, get some sheet metal screws, and whatever speed nuts will fit them, and go to town with your drill.