It is possible to use either cable on both cars.I haven't collected the torque data yet, but the obvious difference is that the 16A cable gets quite hot, if you use it on the Soul at 32A.
You will only get 16A through the 16A cable. The cable itself has a resistor (220 ohms for 32A, 680 ohms for 16A) connected between PE and PP, which tells the supplying side the current limit for the cable. The resulting charging current is decided by the lowest one of the outlet, the cable and the car. So a 16A cable used to charge a Soul EV from a 32A outlet will itself limit the current to 16A, even if the other parties support 32A.