I had so much fun reading The Adventures of Amina al-Sirafi by Shannon Chakraborty. It is squarely in the fantasy genre. Not SciFi like you're asking for. But I can't recommend it enough.

Amina is a very rare character: she is simultaneously an older woman, a single mom, a pirate, a lover, and a legendary hero. Chakraborty does an admirable job of balancing all these different aspects of her main character's personality. The story is bombastic and fun, the supporting characters are charming, the setting is historical and fantastic all at once. This book is incredible, I could not put it down.

I have heard good things about the audio book. I read it in text form though, so I can't confirm that myself.