If you read the code from the micros and then run it through a decompiler you can reverse-engineer the EPROM code. That's the only way to get ALL of the information you need, other than getting the original VW software documents.
You could spend money on a professional mapping tool, which may come with a config library that tells you where all the key memory addresses are - but not all of them are correct, and most are very pricey (as in significantly more than the cost of buying a standalone EMS, installing it, and paying for that to be mapped!).
On the other hand, if you do some statistical analysis on the hex dump from the EPROM then it's possible to get some good guesses as to where the main maps are - but you'll need a decent emulator to suss out what's going on.