Hard to say since I read the print version of the Foundation Trilogy as a teenager in the early '60s. Now, I would definitely give the nod to Scott Brick's reading.
The real problem, for me, is that 50 years have passed since I first read this and it is painfully clear that, as great a writer as Asimov is, he couldn't think outside the box with respect to the future of science. Other than the Faster Than Light concept of "Jumps" (that all SF writers resort to in one form or another when writing about interstellar travel), the science postulated for many millenia in the future, seems antiquated and quaint in 2012.
But in many ways, that was never really the point of the Foundation Trilogy. The evolution of cultures and very large social structures (and the attempt to successfully manipulate them is as fascinating now as it was way back when.
Beta is the most complex and interesting character to me. Since I already knew who the Mule was, I was more able to concentrate on her and her reaction to The Mule, and his to her. If you're reading/listening to the story for the first time, it's almost impossible not to get caught up in the mystery and miss the underplay.
The killing of the Prince/Emperor is particularly gripping, especially as it's narrated. It's a turning point in Beta's understanding and Scott's reading is brilliant.
I'd say the description of Magnifico's first playing of the instrument for Beta and Ebling. What an experience something like that would be! I think it could only be approached by music or art that really touches your soul.
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