It's no different than cleaning. Yes, it requires attention, but your attention can (and will) pass back and forth between active and passive. Evaluate, execute, evaluate, execute, with large parts of the execute phase being pure muscle memory (i.e., maintaining your speed and lane), during which you can pay attention to an audio book.
In a more programmer related parlance, you can't perform the most rigorous part of driving concurrently with paying attention to an audiobook, but you -can- task switch pretty easily. The driving is pre-emptive.
This is why I'm nearly knocked off my bike a couple of times every time i go riding. I rarely give direct instruction especially online however i strongly encourage you to change your attitude and approach to driving before you kill someone.
I should've said "highway driving", since that is what I meant. But I drive so rarely at all any more, and more rarely still off highways, that I gave it little thought - and have spent so many years driving those same highways that, save the one time or so in five years that I drive them in a vehicle other than the one with which I am intimately familiar, little thought is any longer needed.
