The real difference is you need to find the right listening speed for you - lots of people get stuck at normal tempo when once you hit 1.25x or 1.5x it becomes really smooth and you process the info just as fast as reading. After a few commutes you'll find your natural rhythm.
As for the rest, no you're not missing stuff. You digest the story and dialogue exactly the same way, it's just that your brain processes the info differently - the narrator's voice replaces the mental visualization you'd do on your own with a book. Some novel styles work better as audio (thrillers with lots of dialogue, epic fantasy) but that's a matter of taste, not quality.
On the voices, it'll really depend on the genre you like. Don't bother looking for a universal set of recommendations because what works for a mystery novel is gonna be annoying for a romance. Instead just listen to the free samples on the platform - you can tell if a good narrator is right for you straight away in the first few seconds, you'll just feel whether it flows well or if it's grating. And honestly after two or three books you'll notice you're getting used to a voice, like you recognize it and it becomes comfortable.