It's difficult to explain without spoilers... one of the characters feels significantly more fleshed out and real because of some artistic choices in the voice acting.
I am not sure I'd go as far as GP and say that the book is not good, but this is one of the cases where the audiobook feels more like a "production" and not just a book in a different medium.
I found the audiobook to be a superior experience to reading the book as well. It think PHM is an excellent primer on that type of SF for someone who hasn’t read something like it before. My daughter, who never reads hard SF, loved the audiobook.
I once commented on Twitter that the Anansi Boys audiobook read by Lenny Henry was better than the book. Neil Gaiman responded, “I agree”.
I don't know how that can possibly make sense.