Absolutely! I'd read LotR many times before I first read it aloud as a bedtime story season and was abashed to find how much I'd been skipping over, mostly parenthetical details of geography and world-building, while hastening in pursuit of the plot, like the holder of a big box of bonbons gorging target than savouring.
Exactly - it's somewhat akin to listening to an album in one sitting vs the songs on shuffle mixed with others; but even moreso.
It wasn't until I had an audiobook version that I "sat through" all the poetry and tree-descriptions, and it was worth it.