To weigh in on the concentrating part I find if I have something to do like when I am setting machines at work which does involve thinking about what I am doing then I actually concentrate well and take in what I am listening to and absorb it. Once I have finished setting the machine and start running it which requires little to not thought (until something goes wrong) that is when I won't be able to concentrate on the book and will usually switch to music as my mind wanders off.

So for things like driving, running, cleaning, cooking etc I will often put a book on and concentrate just fine on what is being said.

With driving and running it does depend on my mood though as both those activities have a certain level of your brain switching off and running on auto pilot which is when I find myself starting to not concentrate.

I'd definitely recommend giving it a try and seeing how you find it as it helps the time fly by if you can get into it :)