I would have thought the issue was more that many books have pacing that takes forever when read aloud. (You generally read faster than it takes to read out loud.)

In any case, you may be looking for radio plays. It's sort of a niche these days but it probably takes better advantage of the medium than simply reading fiction does. (I find non-fiction audiobooks to be very hit or miss. You can't have any real dependency on maps, figures, code/equations, etc. and the content has to be simple enough that you can just go through it at a constant linear pace.)