I havent fully listened to them yet but there are 2 Old Republic era 4000- 3996 BBY audio books called
"Tales of the Jedi 1 - Knights of the old republic"
"Tales of the Jedi 2 - Dark lords of the sith".

I have listened to the first 4 min and it's not so much as an audio book like its being read to you but more like a movie/tv show with just the audio. So like those old radio shows.