I normally prefer reading as it allows me to set my own pace and make highlights and take notes. That said, there's two books I listened to that I really prefered the audio books of:

• The Martian. I normally don't read/listen to fiction, but I really geeked out on this one. Also the diary-style format of the story works really well as an audio book, becuase it sounds like the protagonist is directly speaking to you.
• Creative Selection. About Apple's design process. Occasionally I would have prefered the regular book with images, etc. But they are mostly personal stories, read by the author.