Try Pratchett’s books or Asprin’s MythAdventures. Can’t say for the first one as I’ve listened to them in russian although they are stellar in the printed form and are your best bet, but the second got a good treatment from Audible (I believe) and is a funny fantasy-esque adventure in the first 6-8 books without explicit NSFW anywhere in it’s run.
Also, the Stainless Steel Rat series. Idk about audiobooks on them, but they are cool and safe too.