I find audiobooks vary by author. I just finished listening to Bujold's "Curse of Chalion" and was frustrated by it. So much of the fun of her writing is the contrast between what Caz is thinking and what he actually says. But that doesn't come thru as well in an audiobook. Or not in this audiobook because the thinking voice and the saying voice is the same. I expect the same would apply to any of her Vorkosigan books for pretty much the same reason.
I've been listening to a lot of Georgette Heyer as I embroider and haven't had that problem with her books.