Questions & Answers about Ni aŭskultas la sonlibron en la aŭto.
In Esperanto, all present-tense verbs end in -as. So aŭskultas means listen or are listening, depending on context.
Esperanto does not normally make a separate form for we listen versus we are listening. The same verb form covers both ideas.
Because aŭskulti works differently from English listen to. In Esperanto, aŭskulti is a direct transitive verb, so it can take an object directly:
Ni aŭskultas la sonlibron = We are listening to the audiobook
So Esperanto does not need an extra word corresponding to English to here.
Aŭskulti means to listen: to pay attention to sound on purpose.
Aŭdi means to hear: to perceive sound, whether you intend to or not.
So this sentence uses aŭskultas because the action is intentional: we are listening to the audiobook.