Yes, with hub centric rings
Same 5x114.3 PCD, but the centre bore of the wheels from Opel Vivaro (71.1 mm) is larger than the hub of Renault Grand Kangoo (66.1 mm): you need 4 hub centric rings 71.1 → 66.1.
Rings 71.1 → 66.1
≈: width estimated from the original tyre size.
Wheel by wheel: offset and tyres
Each original wheel from Opel Vivaro is compared with the one from Renault Grand Kangoo of the same diameter: how much closer the wheel gets to the shock absorber or how far it sticks out of the wheel arch, and whether the tyre keeps the same overall diameter.
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≈6.5Jx16 ET50 · 205/65R16 — Check on the car
Compared with the original 6.5Jx16 ET40 on Renault Grand Kangoo: shock absorber side +10 mm, wheel arch side −10 mm, tyre diameter +3.1 % : fit it with the original tyre size of Renault Grand Kangoo (205/60R16), not that of Opel Vivaro.
Comparison for guidance only (estimated width). Check in detail
Before fitting the wheels
An identical hub is not enough: offset, width and diameter change the position of the wheel, and larger calipers can touch a smaller wheel. Original wheels often use bolts or nuts with a specific seat: keep the fixings intended for the wheel, with the thread of Renault Grand Kangoo (M12x1.50), tightened to the torque shown on its vehicle page. Finally, check that the size is among the approved fitments for your vehicle. This comparison is for guidance only: have the fitting approved by a professional.
And the other way round: wheels from Renault Grand Kangoo on Opel Vivaro?