I agree that it’s a pretty different experience for fiction, where the subjective experience is everything and the narrator can color your experience a lot.

For nonfiction, I think the two mediums are virtually the same depending on the density of the book. Most differences come down to the fact that you’re more susceptible to distraction. Most nonfiction books are light and repetitive enough that I don’t think it’s a big deal

Audiobooks are heavily dependent on the reader. In one case, I had an audiobook where the translator was the reader. She is an excellent translator but a poor reader.

Many authors are poor readers of their own work.

They are certainly good while you are on a long drive etc, because they entertain you while doing some another task which you wouldn't be able to do while reading. During lockdown, I could not read due to the constant stress and fear mongering, but I had to walk a lot every day and the audiobooks were a good way to accompany that.