It depends on the book and the activity. Not just audiobooks, but I can read a nice fiction book at a busy coffee shop no problem, but I need a controlled quiet environment for a dense, technical read. With audiobooks, I have the mental bandwidth for a fiction book or nontechnical story based non-fiction book. If I’m going for a walk or a light jog, I can listen to a book no problem. If I’m going for a run, I can’t concentrate enough. Vacuuming and other mindless chores are fine, but cooking is too much of a mental load. It isn’t a binary thing, it is just depends on how much mental bandwidth you have vs the book you are consuming.