If someone asks if you've read a book, what they're generally interested in is whether you're familiar with the story because they want to talk about it. The story is the same whether you read it or listened to it, so I'd say you can simply answer "yes". Personally, I'd clarify that I had listened to it just because it'd feel technically untrue otherwise, but I wouldn't care if anybody else answered in the affirmative without further detail.
Now, if I asked you something like how many books you've read that year, and you had read zero but listened to a dozen, then I'd expect you to give more detail in your answer than "a dozen".
I don't personally enjoy the experience of someone reading to me, and I do enjoy the act of reading. I will read the transcript or subtitles of audio-only media rather than listen to it because I so strongly prefer reading. So more generally, no, I don't consider listening to something to be the same as reading it. It's not in the sense that it "doesn't count" because it's inferior, it's just a different method of consumption.
But it does engage your own imagination to the same degree, in ways that television or other visual mediums don't.
I've never actually listened to one, but I assume good audio books use tone of voice for dialogue and maybe different voices for different characters, so there'd be less imagination there.
Getting off topic a bit now, but I don't visually imagine things as I read them (yay aphantasia). I remember stories I've read much better than ones I've watched, though. I've watched entire movies and not been sure if I'd seen them before. However, I was watching the new series Dark Matter the other day and got so confused because I was sure I had seen it before, even though it'd just come out. Halfway through the first episode, I realized it was based on a book I'd read maybe a decade ago.
I imagine I'd remember listening to a story even worse than watching one, based on how little I retained from college lectures. So if that's true of you, then that should affect your answer if someone asks if you've read something.