I agree that I think it depends on you as an individual and how you learn best. For example, some people are auditory learners, meaning they learn best by hearing the content audibly, while others are primarily visual learners, meaning they need to see it to really absorb it. Most of us, I think, are probably a combination of styles, although of course you probably favor one style over another.
One easy way to learn more about your own particular learning style (besides doing more research online about the different styles, of course) would be to read a short story or novel physically, and then listen to the audiobook, or vice versa. You could write down what you remember after each, or take a short quiz to see how well you do with your comprehension ability. Doing this a few times should teach you which style you prefer.
Broadly, I absolutely think that some people get just as much out of audiobooks as they do reading books. Many adults use their time driving to work, or driving in general, to listen to powerful audio, as they may find it easier, or may just not have the time, to physically sit down and read a book. As an English teacher and tutor, I enjoy reading whenever I can, but I definitely use audio to supplement my reading.
One note of caution if listening to audiobooks: I've found that sometimes, if I'm not careful, my mind will drift while listening to an audiobook to other topics and things I'm thinking about. For me, this seems to be more pronounced when I'm listening to fiction. If you are going to use audio, try to work on your mental focus, so you don't start thinking about other things and therefore not fully comprehend what you're reading.
I hope this helps! If I can be of any further assistance or if you'd like to discuss the possibility of working together or explore this issue further, please let me know!