My wife and I listened to that on a road trip and enjoyed it as well! The part that really sticks with me is how people were trying to drop weights off of the Tower of Pizza and use classical philosophy to figure out why the balls wanted to accelerate. Galileo pointed out that the reason why doesn't matter in experiments, it's the outcome that comes first and everything else follows. I was shocked that something like that was a huge breakthrough at the time.

As an aside, if you're ever in Florence, Italy, pay a visit to the Galileo museum. You'll get to see his desiccated fingers and a huge collection of medieval astronomical instruments that were as much art as science. Galileo's experimental devices looked a lot like things you'd see in a high school today, except made from beautiful wood and brass. It really blew me away.