Personally I can't listen while driving or working out unless I'm already very invested in the story. Especially driving since I'm so focused on the road and what the other cars are doing. My husband listens to books while cooking, and I can't do that either.

Like another comment said, try doing mundane things. I can walk around the neighborhood while listening. Sometimes I fold laundry or do very very boring chores. I can't multitask with my thinking and have just embraced it.

Also - I don't know if this is your problem, but I will mention it in case it helps - I get bored to tears listening to things at 1x speed. I bump up the speed on audiobooks to 2x and that help keep the story moving fast enough that I stay focused.