As Steve says - you should be able to obtain a printout via your local Audi dealer, on presentation of evidence of ownership. You have to hope that some service history is recorded on their database, but bear in mind that the car is now 10 years old, so don’t assume anything.
I’m surprised you bought this car without sight of any evidence of servicing, irrespective of the seller not being helpful - ?
Have you done an on-line MOT history check on it?
It might also be worth your while to invest £9.99 on a VCheck print out of the car’s history. It won’t tell you anything about its servicing, but will tell you of ownership changes, mileage discrepancies etc.
Please let us know how you get on Daniel.