Interesting question Lee, just look at what you are using and what is different from factory.
You have Audi A8 engine, Vw Polo master cylinder and Vr6 gearbox, with Vr6 slave cylinder.
Your Audi A8 clutch has a clutch length, the VR6 has also a stroke, and the Polo master cylinder can push so much.
So which part is the miss match?
I personally doubt the slave cylinder is the problem, so the OEM Polo master cylinder is probably the problem.
With my car, i had a std Mk1 golf and a 02A gearbox, using a mechanical clutch assy.
I found that the stroke of the std Mk1 system stroked 80mm and the 02A gearbox is 50mm, so i used a reduction stroke ratio to overcome the problem.
So, i am guessing that the problem probably is with your clutch master cylinder assy.