You can check out relative fitments here
https://willtheyfit.com/ and/or here
https://tiresize.com/tyre-size-calculator/.
More info here on rims for each vehicle type
https://www.wheel-size.com/size/audi/q5/2019/
From an insurance viewpoint, you should tell your insurancve company that you're changing - it counts as a modification. It's also advisable (and in some countries in the EU, mandatory to remaining insured) that you only fit wheels and tyres that the vehicle has been homologated with by the manufacturer - that'll be one of the sizes listed on the door pillar. Of course you can choose to ignore all that, and in the UK are unlikely to have any trouble as long as the wheels and tyres are kept in good nick. with a 20" rim you'll be looking at 40psi plus - it's going to be a pretty firm ride - I have them on my
Ateca with the adjustable suspension.
Oddly, when looking for winter rims, I found out my car, the
Cupra Ateca Limited Edition, with Brembo's, is only homologated for the 8jx20 rim - no others are listed. I just checked other Atecas and chose a 19" rim (smallest that will fit over the Brembos - I fitted Audi Q5 R8 ones) and a 19" tyre to suit that is fitted to other spec Atecas.
ETA, don't forget to check the wheel bolts required - many aftermarket wheels use conical head bolts as opposed to the VAG standard hemispherical head bolts.