Yeah, I looked into doing this too... The gorgeous ali 3L steering wheel fits both Rosas and Lupo columns just fine, but you need the "clock spring" unit that goes with it. And obviously the airbag, which is completely different.
The leather steering wheels also are a straight swap.
The Arosa and Lupo steering wheels have different airbag release systems. The Arosa steering wheel has screws whereas the Lupo one is clipped. The airbags can't be swapped between wheels. 👍🏻