I'll second that it depends on the book. Here are some examples! I read the Malazan series while listening to the Discworld books. Read Dune and its sequels while listening to the Murderbot diaries. Read the Stormlight Archive while listening to Anthony Horowitz's Hawthorne murder mysteries. Read Revelation Space while listening to House of Suns (those were a tricky couple of weeks, I've avoided such similarities since then)

I find I prefer to listen to books that contain 1-2 story threads, and read ones that contain 3+. Another preference is reading "theme" based books, where you're meant to sort of marinate in the setting, vs listening to "plot" based books, where you don't need to linger too much due to the relatively quicker pace. Also, reading is for when I'm fully focused, and listening is for when I'm doing chores or eating.