I listen to a lot of podcasts, but not many audiobooks. I find the speed of someone reading to me too slow compared to my own pace of reading, and when I'm traveling I'd rather listen to news or a lecture on a topic and save the reading for later.
I listen to audio books on my commute to and from work. I listen to regular books, and I can't say I've ever really felt like I was really being read to, but that's an interesting concept. I guess if I was at home in my little space listening to a children's book I may feel differently about it.
I don't listen to audio books but there are loads of videos on youtube of most childrens books and people read them to you like story time, my favourite is this one https://www.youtube.com/watch?v=e9w2We3_RM0 - Wheres my teddy
A nice children's podcast series I enjoy on ocassion is Storynory. They have both traditional material and their own stories. The narrators are spunky and very child friendly, a real delight to listen to.