I drive a lot and audiobooks are how I pass time. Usually I can stay focused. When I find myself losing focus and unable to get it back I switch to music. Still, I find it a lot easier to focus on audio than text on paper these days. I've listened to 50-100 audiobooks in the last few years where I have finished reading approximately three paper/kindle books. I like the audiobooks keep reading when I temporarily lose focus. Can always rewind a few minutes and try again if I get lost.

It helps to only listen to books I am interested in, can learn from. I don't listen to fiction in general because it's harder for me to follow when someone else is acting out the characters.