I always make sure that I'm something like busywork (chores/cleaning the house, low stakes knitting, walking/driving) when I have an audiobook on or else my mind wanders too.

I've found that when I'm doing something I don't need to focus on but keeps my body busy it let's my mind be able to focus on the narrator instead of getting distracted.

I also always make sure to take a break and turn off my audiobook when I catch myself not listening.