I have very fond memories of listening to audiobooks in the car with the kids. "The School Story," and "Longer Letter Later" were two that we heard over and over, until we could recite many of the lines ourselves.
These days, audiobooks are much more accessible; they're a simple download. And one of the first from RMW Kids is my own "Ten Lessons for Kaspar Snit." The reader is Chrisine Ghawi and from the bit I've heard, she's very good.
You can have a listen at: