You absolutely can learn orally, what I'd question is if you can do so without active listening. Listing to anything while doing, well anything, is pretty pointless to me, I tends to not listen and not absorb anything. I can barely listen to a podcast while working out, I miss huge gaps where my brain just isn't listening.
Maybe working out requires attention like a sport if you're trying to eploy proper technique and be observant of pains or signs, develop, etc.
I miss nothing from listening to books while driving, doing the dishes, other houshold chores, puttering in the garage like working on a bike or car, even home repars that are somewhat technical, even electronics if only the solding/building part.
The only time I can't listen to a book (and actually get anything out of it) is when my forground activity requires the same kinds of facilities. For instance with the electronics. Listening to a book while soldering a pcb is no problem at all. The two things don't conflict, and neither hurts the other. But I can't work on the design of that same pcb whilke listening to a book. In that case the schematic gets designed fine and the book is a blank like I slept through it. pcb layout is kinda half-way. It's more visual/spacial, which is almost like doing some ordinary manual task, but it does take more problem solving attention and the book loses out somewhat sometimes.
But for all kinds of activities it's like two different things that don't impact each other at all.
Even creative things as long as it's in a different domain like drawing vs having some politics explained.
I can't listen to a book and write a song at the same time. Or code.
Cad is like pcb layout kinda 50/50 so I might still put something on but just a podcast where I don't care if I miss something.
This is where you and I are different. I’m neurodivergent so having another low-mental load activity (like cleaning) actually helps my mind from wondering.
If the has to do with being neurodivergent or neurotypical I have no idea, it might just be people being different, but low-mental load activities is what makes my mind wander off. It's also something I actively want to happen, hence working out without music, podcasts or audio-books. To me at least it's a kind of meditation and it calms my mind.
With me (I have ADHD), I would never be able to listen to an audiobook alone, I would zone out and day dream one paragraph in. But If I'm playing a game on my phone, I can listen and pay attention for hours.
I have ADHD too and while I can totally sympathize, it just doesn't work for actual learning. Unless you're some sort of genius, I guess.
For what it's worth, I cannot recommend medication enough. It took me 4 attempts to finish university before finally getting diagnosed and acing everything first try. Sometimes I still find myself amazed at being able to pay attention to a meeting, a lecture, or a book for more than 30 minutes, remembering how impossible it was before.