Cyteen

From Audible.com:
The saga of two young friends trapped in an endless nightmare of suspicion and surveillance, of cyber-programmed servants and a ruling class with century-long lives - and the enigmatic woman who dominates them all. Narrators Jonathan Davis and Gabra Zackman skillfully split up this sweeping sci-fi epic that is "at once a psychological novel, a murder mystery, and an examination of power on a grand scale." (Locus)