It's not just a matter of a 5 bolt pattern as there are different PCDs, like 5x100 or 5x114.4. They are not interchangeable.
You would need to work out if they both had the same PCD.
Other than that, 20mm is a fairly large difference for offset. Are we talking positive or negative offset? It should be listed as either +150 or -150. If the offset is positive then the hub location sits further toward the face of the wheel. If it is negative it sits closer to the inside of the car.
Assuming you are talking about positive offset, if your wheels are +150 and the Audi requires wheels of +130, then the wheel is going to stick further inside the body of the vehicle, potentially coming in to contact with suspension components etc, not only that it effects the way the suspension geometry was designed to work with the wheels' road contact area.
You could correct this with a spacer in this application but they are illegal in many places and if you can get the right offset wheels to begin with, this is the best option.
EDIT: Don't forget about width, too. That will make a difference of whether it fits or not.