Listening while driving is an interesting case. I have done many long drives with a pile of CDs to listen to. If I am concentrating on the music my driving goes into totally automatic unconscious mode, as it can do in other circumstances like if I am thinking about something.
How do I know? Because something happens in the traffic and conscious driving input comes back into play. I realise that for the previous 15 minutes or 25 miles I have been driving without being conscious of doing so.
I am sure other long-time drivers experience this.
You might be wondering how many traffic accidents I have but it is well over 30 years since I had one and that was another driver jumping the lights and T-boning my car.