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How to listen to your audiobooks on Apple TV
To listen to your audiobooks on your Apple TV, select Computers from the main menu, then Music, then Albums. From there you will get an alphabetical list of all of the albums in your iTunes library. Unfortunately, they will all be jumbled up with your music, but apparently Apple TV doesn't differentiate between music and audiobooks.
I don't know if I will be listening to audiobooks much (or at all) on my Apple TV, but I wanted to know that I could.