I don't know anything about audible, but if you'd like, I think looking into Drama CD series from Japan might be a good place to start and then see where you can get those. Actually, this sounds like a great idea for supplement material. Keep in mind, a lot of the language will probably be informal and use a lot of slang, just like anime, generally because Drama CD's usually are based on them. I would assume some of them would come with a companion book/script of some sort, but then again I've had some audio dramas (non Japanese) do that, and some that didn't.
Though, I think for beginners and learning purposes, I believe japanesepod101's podcasts and lessons provide some great audio and video sessions that allow for a bit of "roleplay," for real life situations.