Can you just swap the 2002 SE S/C 17"s with the 2002 SE 16"s without any modification?

Yes. Everything depends on the diameter of the tire, not the wheel. You will have to buy new tires though.

I did that earlier this year, no issues what so ever. I actually meet someone and we traded in the parking lot. Got a lot of stares and some guy in a built Cherokee asked if we needed a hand. But just bring a couple of jacks (stock ones will work) and a torque wrench and you are all set to go.

The thing to watch for is you have 5 matching 17" rims. If you trade the X only comes with 4 02SE 16" rims and one steel 16" spare.

ALAN