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I can now answer this myself.
I will update it and mark it as solved, so that if anyone else has the same problems then they can come back here.
Ultimately:
With rSAP - Particularly Audi:
The Cellular and Bluetooth Interface is OEM made for Audi by Harmon - a "Samsung" Company. So in theory there should be little incompatibility with Samsung Devices.
The Samsung Galaxy S20 Ultra (and presumably any of the Galaxy S20 devices) will NOT work with an eSIM in rSAP mode, it will work in Handsfree Mode. (HFP - Profile)
The Samsung Galaxy S20 Ultra - will work with rSAP on Android 10 with a 5G and 4G SIM card from O2. (To identify which one you have the number on the SIM will show 4GPP or 5GPP respectively)
NB; a 5G SIM will not allow the vehicles cellular interface to connect to the 5G network unless the car contains a 5G hardware cellular interface, mine does not.
If you enable VoLTE, (4G) or WiFI Calling in your account, you may risk that the phone will not work on a 3G network once it has disconnected from an rSAP connection, until it has been restarted (or the SIM ejected and reinserted) causing an IMSI Handshake to take place between the network and the phone. I had a new SIM provisioned without this and this resolved the problem.
Incidentally and a side issue, the Qi Wireless Charger in my Audi, is also made by Harmon - a "Samsung" company, when I had a problem with it, I spoke to both Audi UK and Samsung, and Samsung's response was "We dont recommend you charge your phone with anything other than a Samsung Charger" cheers for that SMH. 
For anyone thats interested or who doesn't know:
rSAP is remote SIM access profile in Bluetooth, it allows the car to "copy" the SIM into the vehicle and allows the cars electronics to make use of the SIM cards service, it allows WiFi to be used in the car and the data services in the vehicle to work with your own O2 contract as well as making calls, it also benefits from using the external antenna on the roof of the car.
HFP just allows you to make calls via the inbuilt electronics.
I hope this has been of use to someone.
Shunts...
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@Shuntfield As the phone you've bought is so new, I doubt anyone would be able to answer you here, but I also think this is more of a question for Samsung and Audi as well.
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@Shuntfield wrote:
@MI5I pick up a brand new one in about 10 days time 😉
That's no guarantee it's up to date, but enjoy it all the same 
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@MI5 wrote:
@Shuntfield wrote:
@MI5I pick up a brand new one in about 10 days time 😉That's no guarantee it's up to date, but enjoy it all the same
Maybe, however as part of the PDI it should have whatever the latest software is available installed but as you say its no guarantee! 
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Yes, others have reported similar problems with eSim 😞
There were lots of issues with my infotainment system when I picked the car up but the dealer was expecting an update a few days later (update 1).
It then had an update at the 1000 mile inspection (update 2)
Another update because bluetooth kept dropping out (update 3)
and finally another update at the 10,000 mile service which added new features and updated the sat nav maps (update 4).
All is good now though **touches wood 
