As expected, Prototype 16 failed reentry. The tiles broke off near the middle of the nosecone towards the end, which led to the fuel tank overheating and exploding.
We now know that Prototype 20 must have more resilient tiles to survive a Cylero reentry. Prototype 16 will forever be remembered as the first prototype to test reflight, and served as the conclusion to Droo missions.
R.I.P Prototype XVI