Yes - Derek Jacobi did a wonderful job as an actor with I, Claudius when younger and again as Brother Cadfael…I don't know about listening to him read his grocery list or the phone book - but I can't imagine him mumbling his way through a reading...like a few others. I only get audio books from the library because, well, some of those people shouldn't have been trying to read a whole book out loud. Mumbling, monotone, and an inappropriately "sexy" voice for the subject matter come to mind (if it's a romance - fine - but Jane Eyre really shouldn't sound sexy and no scenes with a dead body play well that way in my ears).
I borrowed one audio book from the library and I swear I had to turn it in and find a print copy to read - the way the female voice reader sounded, everything sounded lascivious - bad enough in the "heavy romance scenes" - but there was a scene that didn't work in her voice (there was a murder or two in the book) and...well, I couldn't listen to that audio book after that.