If you go here: http://europe.nokia.com/A4143881 and choose which operating system your phone uses - for the N95 8GB it is the S60 3rd addition. Download the appropriate "SIS" programme.I have an N95 although the original model, not the slightly newer 8gb, but i was told these symbian handsets just won't sync (phonebooks) with the Audi Bluetooth. Can you confirm what this 810 software is & if this can functionality is only possible on the 8gb version. Not sure what version of Bluetooth module i have, but it was installed last Summer & supplied by craigyb.
Install it on your phone.
Pair the N95 with the Audi bluetooth module and then the Nokia 810 software should start automatically and transfer your contacts to the car. It may take a minute to auto start. If it does not auto start then you can run it yourself.
Mine works perfectly.