That's right. You can see it even more clearly in the aorist subjunctive (να) ακούσει or in the aorist subjunctive of the passive (να) ακουστεί.
Maybe I didn't hear it well, but it seems the audio said 'a-kou'. Is that the correct pronunciation, or should it be 'a-kou-ee'?
You are right, the audio cuts off before we get a clear -ee at the end, as should be the case. When unsure about how to pronounce a word, you can also check forvo.com (ακούει) or thefreedictionary, or even this nice Text-to-speech tool I've found. It's not perfect, but it can be useful.
μας is a weak form of a pronoun and comes only before a verb (or after an imperative/command form of a verb).
If you want to put the pronoun after the verb, you will have to use the strong form of the pronoun, which in this case is εμάς - Αυτή ακούει εμάς would be "She hears US" (with emphasis on the "us").
The neutral or unemphasised form is Αυτή μας ακούει.
Hello! I was looking into the position of weak pronoun forms and, like you, could only think of them going before the verb. However, as one of your examples here points out, they can go after the verb, at least in the imperative. [I would have contacted you on your activity stream, but it's down..]