Yes, the hub is identical
Same 5x100 PCD and same 57.1 mm centre bore: wheels from Skoda Kamiq bolt on and centre on Audi A2 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 Skoda Kamiq is compared with the one from Audi A2 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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≈6Jx15 ET38 · 195/65R15 — Check on the car
Compared with the original ≈5Jx15 ET38 on Audi A2: shock absorber side +12.7 mm, wheel arch side +12.7 mm, tyre diameter +6.5 % : fit it with the original tyre size of Audi A2 (165/65R15), not that of Skoda Kamiq.
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 A2 (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 A2 on Skoda Kamiq?