I cannot tell you for sure whether it will fit ut if its a "legal" towbar it will have a compliance plate which states the vehicles it will fit. They are sometimes painted over so can be hard to find.
The bar itself will fit although the 2 plates that go in the back are bigger on the ute. But it also depends on the brand of towbar. As for legalities, the ADR states that all towbars must be tested and rated with the part number, weight rating and the vehicle they fit on an ID plate or sticker on the bar, I know in WA it is not illegal to fit a used towbar it just comes down to the person fitting it. Would they be comfortable fitting the towbar not knowing whether it has a fracture in it somewhere.