When I was a kid, before cable, before VCRs...
The best I could do was tape-recording re-runs by holding the recorder up to the TV speaker for an hour.
I had "Requiem for Methuselah" and "The Enterprise Incident" on cassettes tapes. I listened to them so much I got 'em burned into my brains now.
Audio-only, well, I can listen to TMP score and that gets me 76% of the experience.