I don't know what the 8506A firmware is supposed to do if it sees an ID from a non-thermal AC board, but I would assume it either ignores it or throws an error code or crashes.
I wouldn't be very surprised if 02AT TRMS modules are 06A acceptable.
06A schematics has a table for two variants, primary and alternate.
Software is also 502/603 and so on.
One more, primary set has 0 ohms for R18 and 0 pF for C19.
Obviously 02AT schematics is missing R18, but go figure, no value for C19.
What your device is reporting when all extra modules are off?
Mine is always 50x, but I don't have even a half of a TRMS module.
Must try that fake TRMS ACK thingy one day.
00A and 02A have different DC Sgn Conditioners and Ohms Converters compared to 05A and 06A.
For general exchange I can "guarantee" only R2 A/D and Active Filter, but I've not seen many different numbers.
I/O boards are most likely the same, but numbers are incomplete.
Isolator is probably also at least backwards compatible.
Since 06A is supposed to have TRMS modules those other versions are generally not necessary, but my educated guess is that they will work.
06A manual is also marking all front modules equally as add-ons.
What different 02A software versions do I have no idea but it's not far fetched that newer versions would support newer modules.
Those DC Sgn Cond and Ohms Conv differences then, and educated guess again.
Since new versions have those wider address selection gates, with inverted inputs, they just can't work if software tries to access them and some other using imperfect addressing.
But if those inverted inputs are grounded my guess is that they'll start working, software vice, measured values are a different thing, but when 05A DC Sgn Cond schematics is missing 7. extra info of R21-R23 it's only individual but equal resistors changed to resistor network.
(assuming here that my manual is missing one M for mega)