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From what I understand, they're a weird kind of mp3 which is easily converted using ffmpeg.
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In your library, near the right top corner, you can select "Normal Quality" (formerly called "Format 4").
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This didn't work for me, perhaps because I am using Audible Germany, but it has been a while and it seems to work for other people. Then use either this script, or just grab the first four bytes as hexadecimals in little-endian (backwards notation reverse them). Because Android hates it when people can access their own files, you probably need root to do this. Temporarily install the app and grab the /data/data//files/AudibleActivation.sys file.The activation bytes can be found by a few methods: aax files can also be converted with ffmpeg, but you need your unique "activation bytes": ffmpeg -activation_bytes AABBCCDD -i YOURBOOK.aax -codec copy OUTPUT.aac aa files are no longer available for download and recommends to install their tracking app instead. aa files from the website, you can now only download.
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