The only audiobook I ever listened too with my husband. I recorded my experience in the "Listening to Those Sex Scenes" Speaking of Audiobooks column:

Tooling down the road with my dear hubby on a long trip to Colorado, I had big plans to introduce him to romance by listening to Nora Roberts’ Rising Tides and prove to him that romance could be as good as or better than the occasional Nicholas Sparks book he read. After all, the book is told more from a male perspective and is part of a series about four brothers (and is labeled fiction as well). I knew the lovemaking scenes might prove challenging to my flustered senses, but I had always considered Roberts to be a little tame on the sensual side. However, the first indication of a physical relationship between Ethan and Grace had me cringing as I envisioned my four year campaign to convince my husband that romance was not all about sex crashing down all around me. As I smiled and attempted to fast forward through the scene while explaining that sex scenes embarrassed me “out loud”, DH told me he wanted to listen to the entire book. In the end, he enjoyed Rising Tides although – I didn’t. I continued to cower anytime anything was close to a passionate kiss. All I could think about was how these love scenes must sound to the non-romance reader.

I think this may actually be a 4 star when I relisten to it at some time in the future!
http://www.likesbooks.com/blog/?p=2130