I have a 2006 Tacoma Sport that came with the 17" low profile wheels/tires. Can I change the wheel size to the factory size of a regular tacoma or a trd off road tacoma, if so, what years can I go to.

Maybe... get front wheels off the ground. Turn from stop to stop and measure inner and outer clearances. That will give you an idea of how much room you have in the horizontal. Set truck back on ground and check tire clearance from wheel well lip to tire. Note inner wheel well plastic tire clearance also. Now check wheel to wheel well top clearance for strut/shock up and down motion. Check tire sizes against "new" desired tire measurements for overall size differences. Those dimensions plus about 1/2 inch for heat expansion will give you an idea if everything will fit. The rear has similar conditions for clearance. Your speedometer will be in error according to the change in overall diameter ( a math ratio problem )