My non-Who audio listening recently has been a BBC radio dramatization of Milton's epic poem, in 41 12-minute episodes. It is tough going in places, but probably not as tough as reading the original would be. I found the most interesting sections to be Satan's council of war near the beginning, which presumably Milton based on his imaginings of meeting of the leadership in the Civil War, and the "lascivious" behaviour of Adam and Eve after the Fall. Denis Quilley is fine as the narrator, Ian McDermid very good as Satan, and I also liked Linus Roache and Fedara Holmes as Adam and Eve. And I was amused by the phrase "access denied" in one of the early episodes.