I have 2 highlanders, spanning 2 different body styles. One has light tan seats and black carpet. The other one has darker saddle tan seats and black carpet/trim.
For us it works. The seats aren’t as hot but the darker floor color hides the scuff and dirt better than an older car I had that had light tan everything.
The lighter color seats did get dirty when my kids were smaller but since they are leather, they are easy to clean.