I have Configure User Profile Service on Production Server(SharePoint Server 2010 Enterprise).It's Configure successfully.It shows Security Group in Audience in Navigation Menu but it shows total member count 0.
Please verify the following.
Add the SYNC account to Pre-Windows 2000 Compatible Access group in AD (if your domain is 2003 functional level). This is required for the sync account to retrieve the NetBIOS name of the domain.
NetBiosDomainNamesEnabled is a property that is set on every UPA. By default, this value is set to false which means that you must set it to true in the scenario where the domain netbios\FQDN names are different. PowerShell can be used to drop the UPA into a variable and set this property to true.
Grant Replicate Directory Change permissions to each import Domain NC and Config NC
For any useful reference follow this link,
Here is the official documentation