Some of the regulars on the forum really like myphonexplorer. It’s listed in the backup solutions wiki and appears to be able to handle the various places where contacts can be stored:
Obviously, there are other options available. On the forum we’re a bit hesitant in keeping individual recommendations for these types of software up, unless they’re from members who have a history of making positive contributions. We get a lot of spam links (often targeted at completely different devices).