For the case where you don't want to refactor your variables into arrays...
One way...
$ for I in 1 2 3 4; do TEMP=VAR$I ; echo ${!TEMP} ; done
Another way...
$ for I in 1 2 3 4; do eval echo \$$(eval echo VAR$I) ; done
I haven't found a simpler way that works. For example, this does not work...
$ for I in 1 2 3 4; do echo ${!VAR$I} ; done
bash: ${!VAR$I}: bad substitution