My DDs are 10 and 8yo. I don't often listen to them read anymore, as their reading ages are 16 and 12yo respectively and they are already able to read aloud engagingly. When I do listen to them, is it usually because they request it.
Up until they became 'free readers' (which is classed as being at expected level for the end of yr6 for us), I would listen to them read for 10 minutes every night before bed.
They are expected to read for at least 10 minutes a day before they can play/watch TV etc. During term time they do this when they get in from school, but during the holidays they tend to do it in bed before they get up. They will often read for longer of their own volition, but that is the minimum expectation. I am not fussy about what they read as long as it is age-appropriate, and they have a wide choice of fiction, non-fiction, poetry, graphic novels and comics to choose from.
I also read to them most nights, choosing a book they'll enjoy but is either a bit beyond their capabilities or has themes that are best explored with a grown up to talk them through as we go.
We listen to audiobooks in the car, particularly on long journeys, although it can sometimes be tricky to find a book that appeals to both DCs as well as us adults (although this is getting easier now DCs are older).
I can't be doing with library trips and remembering to the return books, but can't afford frequent trips to Waterstones either. We buy almost all of our books second hand. Most come from Ebay at around £2.50 including p&p, although if passing, I will check out charity shops too.