Yes, the hub is identical
Same 5x112 PCD and same 66.5 mm centre bore: wheels from BMW 6 Serie G32 bolt on and centre on Audi Allroad 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 BMW 6 Serie G32 is compared with the one from Audi Allroad 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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8Jx18 ET30 · 245/50R18 — Check on the car
Compared with the original ≈7.5Jx18 ET37 on Audi Allroad: shock absorber side −0.7 mm, wheel arch side +13.4 mm, tyre diameter −1.9 %.
Comparison for guidance only (estimated width). 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 Audi Allroad (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 Audi Allroad on BMW 6 Serie G32?