Yes, I'm sure they fit.
Externally, the ink cartridges do not differ. Normal, XL or XXL differ only in the filling quantity. In other words, the "normal" ink cartridges are "half empty". The XXL are full.
I have a TS9150 and have used different fill levels. Fits without any problems.
A quick look at Canon.de shows that the i-SENSYS MF651CW is a colour laser and requires Canon 067(H) toner cartridges. Please check again yourself, but they are also available here.
Unfortunately I can't say for sure, I own a TS6350.
According to Canon https://store.canon.de/pixma-ts-8050-cartridges/cp365d1e/, however, the CLI-571x are installed in the TS8050 and not the CLI-581x series shown here.