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I use Windows and Android, so I don't know if this is possible on a stupid Apple device, people with Apple seem to have the funniest problems with simple tasks according to what I read on the internet.
Just open the epub file as an archive, because that what it is. If the audio files are truly embedded and not just links to external files then you should find some mp3, ogg, opus or whatever audioformat was used inside the archive.
If the audio files are just linked inside the html files of the text you have to search the source code of these html files for these links and download the audio files on the internet.
On Windows you can use 7-zip, on Android Total Commander can open epub as ZIP: long press on the file, scroll down on the pop up and select "Open as ZIP".
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