Yes, get the A6 4B0 "P" unit and the CAN emulator. see my link below for RNS-E for C5 A6 for more details. Most of that post will apply to you.
As for the B5 install, this is covered quite a bit on this site. Start with the Quicklinks. Happy reading!!
As for the B5 install, this is covered quite a bit on this site. Start with the Quicklinks. Happy reading!!