Ah that's so cool that you come from a theatre background - I reckon theatre and improv, particularly as a kid/teen, does wonders for one's confidence and development :D
And I definitely relate to the book thing! They really are doing marvelous things with audio, aren't they? Do you use Audible? I've heard great things. Personally, I'm the opposite - find I drift if I listen to someone else reading the story, but have heard some wonderful audio adaptations. What kinds of historical fiction are you into? (I mean what era)
Oh I wish being in the theater was good for my self esteem and confidence, but I was a terribly awkward kid, and was never comfortable being on stage. I begged my dad to give me a stage hand job instead. So I ran props. Best job ever!
As for historical fiction, I seem to gravitate toward WWII, but I think it's because there are so many popular books from that time, and my book clubs keep picking them. Just finished reading The Women by Kristin Hannah, which is about Vietnam and the women who served as combat nurses.
My husband and daughter both say the same thing as you about listening to books. They will only read physical books for the same reasons. They drift off. But it really works for me. I've pretty much constantly good a book in my ear if I'm out walking, or doing chores or cooking. Oh, and yes I have an Audible subscription and use free audio book services too!