But if I am going through the list of books I "read" in the last year, I would include both printed and audio books in that list. In that sense, reading is used more like "consumed" or "studied" or "spent time with". It's not confusing to me in that context.
I think it's safe to say that some of this comes down to people's sense of shame or fear of being judged. There should be no judgment attached to reading books or listening to them, they're just two different activities. It still counts if you listen to it.