Thanks for reaching out to the Apple Support Community. I understand you’ve had some trouble with the Audible app on your iPhone, and I have some information that may help.
Have a look at the article below for some helpful troubleshooting steps.
If an app you installed unexpectedly quits, stops responding, or won’t open - Apple Support
Also, check out the Get Help section of the next article for help troubleshooting CarPlay.
Set up CarPlay with your iPhone - Apple Support
If you run into any trouble, please reach out again.
Best Regards.