I’ve found that occasionally audiobooks read by the author can go around this, but it’s sometimes hard to find an author that can write well and also has good narrative skills so these are few and far between. Quiet by Susan Cain and Daring Greatly by Brene Brown were quite enjoyable to me for this reason.

Another good way around the problem you describe is audiobooks with ensemble casts so it sort of sounds like the reading of a screenplay. Ender’s Game and American Gods come to mind as standouts in this area.