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The 17-55/2.8 should work perfectly on any of the R cameras (including the R7), with an adapter. Personally, some brief testing on my R5 + official Canon adapter (with control ring) worked great.
Using an EF-S lens does automatically enter crop mode on the full frame cameras. So on a R6II that means 9.3 MP images, per the manual. (Only on the R5 series among current Canon full frame bodies does crop mode reach a "respectable" 17 MP.)
As an additional data point, Christopher Frost on YouTube tested the 17-55/2.8 on a R7 and it held up pretty well. Link:
Those results suggest that the lens should have should have solid performance on any of the R full frame bodies in crop mode (remember: none exceed 17 MP in that mode) and also do well in APS-C bodies downstream of the R7--the R7's 32.5 MP sensor is extremely demanding (higher pixel density than a R5--IIRC it has the density of something like a 80 MP full frame sensor) so R7 testing will tend to show lens weaknesses that sensors with lower pixel densities may not exhibit. I certainly found the 17-55 worked well on my 7DII at 20 MP, which was the highest resolution EF APS-C body.
In fact, in optical terms the Christopher Frost review makes me feel the 17-55 is reasonably competitive with the most similar official APS-C RF mount lens, the Sigma 18-55/2.8 C. However, the Sigma is smaller and more compact, plus has a more refined package (doesn't require adapter and has a modern aesthetic instead of the Canon EF "gold ring" midtier build).
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