It can't really be "Éistim muid", because "Éistim" on its own already means "I listen", and in Irish it would not make sense to add the "muid". If you would want to use "muid", then you would need "éisteann" and that would have a clearly different pronounciation.
If the teanglann shows up as a past form, change it to present to view:
- éisteann muid
- an éisteann muid?
- ní éisteann muid