Just get the audiobooks. I think there were two readers, but the story is the same.
You are correct, Roy Dotrice read the first three books and then due to illness at the time, a different reader (John Lee, I believe) read
A Feast For Crows.
Then they brought Roy Dotrice back, since he was in better health despite being in his late 80s at the time, to read
A Dance With Dragons, which was a good return but for some reason he made Dany sound far more petulant and entitled than he had in any of his previous three performances. Then, because Dotrice was up to it, he also went back and did a read of
A Feast For Crows to maintain series' consistency, but it must be said that this is not his best work, as he pronounces many of the names differently from how he had in previous performances and even manages to somehow screw up some pronunciations that the director should have easily been able to correct him on but, for some reason, didn't. Dotrice also did the audio read of
The World of Ice and Fire for audible, but there is no physical release for that one.
Iain Glenn (Jorah Mormont in the
Game of Thrones TV series) did the Martin
ASOIF related chapters for both the
Dangerous Women and
Rogues anthologies. To my knowledge, there are no physical releases for these two anthologies.
Another reader, Harry Lloyd, did the audio read for
A Knight of the Seven Kingdoms, which is the collection of
Dunk and Egg short stories that originally appeared in the
Dreamsongs and
Warriors anthologies. There
is a physical copy of
A Knight of the Seven Kingdoms on audio.