Yes, the hub is identical
Same 5x112 PCD and same 66.5 mm centre bore: wheels from Audi A8 D5 bolt on and centre on Mercedes GLA-Classe without rings. You still need to check the offset and tyres, detailed below.
≈: width estimated from the original tyre size.
Wheel by wheel: offset and tyres
Each original wheel from Audi A8 D5 is compared with the one from Mercedes GLA-Classe of the same diameter: how much closer the wheel gets to the shock absorber or how far it sticks out of the wheel arch, and whether the tyre keeps the same overall diameter.
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8Jx17 ET29 · 235/60R17 — Risk of rubbing
Compared with the original 6.5Jx17 ET38 on Mercedes GLA-Classe: shock absorber side +10.1 mm, wheel arch side +28.1 mm, tyre diameter +3.5 % : fit it with the original tyre size of Mercedes GLA-Classe (215/60R17), not that of Audi A8 D5.
Check in detail
Before fitting the wheels
An identical hub is not enough: offset, width and diameter change the position of the wheel, and larger calipers can touch a smaller wheel. Original wheels often use bolts or nuts with a specific seat: keep the fixings intended for the wheel, with the thread of Mercedes GLA-Classe (M14x1.50), tightened to the torque shown on its vehicle page. Finally, check that the size is among the approved fitments for your vehicle. This comparison is for guidance only: have the fitting approved by a professional.
And the other way round: wheels from Mercedes GLA-Classe on Audi A8 D5?