I wish I could do that, but I'm personally unable to listen to an audiobook while doing anything else without completely losing track of what's going on in the audiobook.
What I have found is that the kind of driving I am doing matters a lot when listening to audio books. If there needs to be any frontal cortex decision making (route planning, looking for unexpected obstacles, driving in the city), then audio books aren't an option. There is simply no way to pay attention to both at the same time.
My work commute is about 15 minutes each way, and is on the highway. With this kind of driving I have no problem listening to a book while driving.
Mundane chores are also a good time to listen. I can unload the dishwasher, fold laundry, weed the garden, etc. while listening to a book.
I recommend a service like Audible that enables you to listen to books on your phone or other mobile device. This way you can have it near while on the toilet, in the car, doing the dishes....
Everyone is different, so what works for me may not work for you.