The difference in Spanish between "oír"and "escuchar" is the same as in English between "to hear" and "to listen".
Hearing only requires ears that work. Listening requires you to pay attention. Unfortunately, as in English, many Spanish speakers also misuse these words, muddying their meaning.
Consider the difference between "No te oigo" (I can't hear you) , and "No te escucho" (I'm not listening to you).
My parents hear your comments is also an accepted translation and I believe it is more accurate. (April 25, 2020)
oir => hear
escuchar => listen to