Whoops! I've been overinflating mine a bit!!
HiQ tyre pressure guide (
LINK) which also includes torque settings, etc is pretty decent - buy you'll need to find an alternative car that has the correct spec tyres if yours are non-standard even for you exact model / year.
My car is an early B6, so only had 16's, with 17's as an optional extra, so that's all I could look up with my reg:
"215/55R16 Y" should be at @ 29PSI.... I run my winter tyres : @ 30-33psi (normally 32psi all-round), so a little high, but then winter tyres are supposed to be inflated so they're fairly firm to bite into the snow.
For my summer (S4 Avus, with S4 OEM spec tyres: 235/40/18):
I Googled Audi S4 B6 and found this IMCDB.com (
LINK), the registration of which, I believe I'm not supposed to post here, even though it's been on TopGear, but follow the link if you need it.
235/40/18 should be at 36psi on an Audi S4, which is almost exactly the same weight as mine, so the 40psi that mine are at is definitely too high!