Compatibility of CAN TP 2.0 to CAN TP 1.6 / CAN Converter?

Hello everyone,

I want to install a multifunction steering wheel from an Audi S3 8P (year 2007) into my Audi S3 8L (year 2002). To do this, I need to retrofit the steering column control unit for the S3 8P, which receives signals from the buttons on the steering wheel via the LIN bus, converts them into CAN (Controller Area Network 2.0) signals, and sends them to the vehicle's comfort/infotainment CAN bus.

Can someone tell me if CAN 2.0 signals are compatible with the CAN 1.6 bus?
'Can it be transferred?' Or are the two protocols absolutely incompatible?

Is there a way to convert the CAN 2.0 signals (specifically, the signals from the multifunction steering wheel buttons) into CAN 1.6 signals and then send them to my CAN 1.6 bus, so that my navigation system (Audi Navi Plus RNS-E) can receive and execute them (e.g., voice control on/off, previous/next track, volume up/down, etc.)?
Are there perhaps already existing converters that can convert from CAN 2.0 to CAN 1.6? After extensive research, I only found adapters that can convert CAN 1.6 signals to CAN 2.0 (for retrofitting a CAN 2.0 VW navigation system into vehicles that use CAN 1.6).

I am grateful for any tips and information.

Best regards,
Thomas.

I'm not aware of SMLS using TP. Normally, this is a broadcast message...

Do you happen to know where I can find such information?

Otherwise, I'll just have to buy a steering column control unit and then test how the navigation system reacts to it.