Yes, your OK. I rotated the wheels/tires on my 07 the other day, I felt guilty that I did not take the time to wash and wax the insides of the wheels.

My 16" wheels are gunmetal, they don't show much dirt or brake dust.

 

I wasn't able to do mine when I rotated the tires after work . . . but it was getting dark and I wanted to have enough light to see the torque wrench and pressure gauge at the end of the task. I normally just do the inside of the wheels when I switch from my summer tires to my winter tires or to my summer commuting tires or my winter commuting tires. . . .