We have applications pretty often where we sleeve square tubing pieces of different sizes. (Note: We are NOT working on over-the-road equipment.) We just finished a project where we wanted to make the heights of our plant work tables adjustable (ergonomics). The table frames were built from 2" sq. tube. We shortened the original legs and sleeved them inside 2.5" x 3/16" Sq. tube with a series of pin holes to give the height adjustment.
Note we did not use 2.5 x 1/4" sq. tube. This is something you need to be aware of. Most square tubing has a seam on the inside. Unless you order seamless tubing, you will not be able to simply sleeve the 2" square inside a 2.5" x 1/4" wall square.
When we have to sleeve 2" into 2.5" x 1/4", the application has to allow the 2.5" sleeve to be short enough for us to get inside it, either with a die grinder or Dynabrade belt sander, to remove the mill seam. I don't know how you could do this on a piece as long as you're talking about. For what its worth.