I think anything that has solid reviews or you get recommendations on would be good on audio as is in print.
As for recommendations Robin Hobb’s Farseer trilogy is really good and feels a bit different from other high fantasy. There are a bunch of books past that trilogy too. N.K. Jemesin’s Broken Earth is good and unique too.
The Princess and the Goblin is a fun short one. One of the books that inspired Tolkien. It’s pretty cheap to buy outright from what I remember.