If it feels like audiobooks aren’t having an impact on you then I’d suggest trying to relisten to them and not treat them as a once-through.
One significant negative of audiobooks is that I tend to listen while doing "active but mindless" activities (mowing the lawn, commuting, cleaning my office, doing dishes/chores) which means I'm not in a position to stop and take notes in the margin or in a notebook. To really absorb a work and make it your own I think you need to take notes and summarize the main points of each chapter, in your own words, after finishing each chapter.
That said, listening-only is far better than having no exposure to these great works. Would I would love even more is to have commentaries or Joe-Rogan-Style recorded discussions about the books by academics so I could read the book, listen to discussions about the book, then read the book again with these critiques in mind.
Audio books impose a strict pace on me; I have no choice but to keep up. Personally, I like also being able to speed them up. My brain accommodates the new transmission rate just fine after some time. So, what would normally be unintelligible becomes a really low-effort way for me to ingest content.
For me, background noise creeps in when I'm trying to read by sight. It can be exhausting.
My 2¢
But even with physical books, I could often drift mentally when I was reading and would need to reread a page or two when I noticed I hadn't been fully present.
However many audio book players allow you to control playback speed. I do find the occasional voice actor that's just too fast or slow for my comfort.
it took me a while to get "used" to them but now i can easily focus on them while doing chores (washing the dishes, walking the dog).