I can't skip boring parts, like long descriptions or other annoying parts.
I zone out from time to time when doing other things, and I have to skip back and try to find where I lost track.
Sometimes I have to go back and reread numbers, names, and other important info, but that's much harder with audio.
Of course you can skip those parts in text but if you half listen to them you get to say you heard the whole thing and you begin to appreciate the role they played in the work and the influence they had on later authors and politicians.
That said, I've read / heard that if you want to increase listening comprehension, speed up the play back. The novelty + speed forces the brain to focus more and listen closer.
Moi? For listening, I listen to music. I still read paper books because I already spend too much time gazing into a screen (writing code).
In general I usually have 10-15 mins in free time increments. Audio books don't work for me for that reason. Narrated articles do.