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Just saw in this Tatra catalog that the newer heavy trucks all come with 16.00R20 mounted on 20x10 wheels. So I put your image to scale against the HEMTT wheel and it seems there is little or no interference to the valve stem; so it should work... if enlarging the pilot hole and drilling new...

Sounds like you are forgetting that the valve stem could be the limiting factor in your case...? I don't have access to tatra parts to find out what fits or does not. But I am attaching a drawing here, showing all critical dimensions. Maybe that helps. If anyone has those hub & drum assy...