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it's definitely ONE answer, but not necessarily THE answer. Book Lib Connect is another option. And Book Lib Connect links with AAX Audio Converter, one of the most popular tools in this area.
AAX Audio Converter alone does not - yet - download your books. But its new companion Book Lib Connect does. It also lets you set the audio quality which you cannot if downloading via the web browser.
Two alternatives are Open Audible and AAX Audio Converter. They should both let you download the files and convert them to non-AAX files.
Libation is the answer: https://github.com/rmcrackan/Libation