Audible have updated the support page for their Android app. It’s now out of beta and can be downloaded from the Android Market. Good news; They support all versions of Android v1.x and up.
I’m in the middle of trying to get it (the sent me a broken link) and I’ll post a review when I can.
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I can’t find this app anywhere on Android market.
Try visiting audible.com. They might have a direct link or QR code.