By RAW:
The Object of X Volume fits into Y Space for Z Size Category.
Size Volume Space Fine 0.5-foot cube 0.5-foot square Diminutive 1-foot cube 1-foot square Tiny 2-foot cube 2.5-foot square Small 4-foot cube 5-foot square Medium 8-foot cube 5-foot square Large 16-foot cube 10-foot square Huge 32-foot cube 15-foot square Gargantuan 64-foot cube 20-foot square Colossal 128-foot cube 30-foot square
Yes, you could fit those larger objects into a smaller space than them.
Mechanical Units of Measures
Thickness of Materials: multiples of 1 inch.
Height: 1 foot.
Distance: 5 foot.