Clean, historical, non-romance:
The Jack Aubrey / Stephen Maturin series by Patric OBrian. The movie "Master and Commander" was a mash up of several. All available on audio.
Anything by Charles Dickens; The Black Arrow by Robert Louis Stevenson (and several others of his).
Anything by Dorothy Dunnet, though I am not sure she's availabe in audio.
I like Elizabeth Goudge as well. My favorite of hers is Gentian Hill. Two books by her that children would also enjoy are The Little White Horse and Linnets and Valierians.
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