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I agree with the sitting down and focusing part. For me, I've always been extremely inclined to audio processing, so I can sometimes just lay in bed or in a chair, or on the train, and... listen to an audio book. I really don't think it makes a big difference, at least for me. I used to be attached to the sensory experience of flicking pages, but there's also a big factor in letting the book (or, the narrator) take you to their own pace. A good narrator really completes a story.

All that stuff about listening to an audiobook while working out, or cooking, driving, or anything is crystallized bravado from people who think it makes them look clever that they can do two things badly at the same time.