A more correct English idiom would be "to listen to us". This literal translation of the Hebrew is strange to an native English speaking ear - clearly understood, but strange.
Is there another Hebrew expression for "listen to us"?
להקשיב אותנו or לישמוע לנו, Are incorrect?
Yes they are. You can use לשמוע לנו which means "to listen to us" in the sense of do what you are told, but that's a little unofficial language.
Not quite. לשמוע is "hear" and להקשיב is "listen", which requires לנו, not אלינו