I think Mulgrew only read Mosaic, and Pathways was read by Robert Picardo.
Nearly all of the audiobooks that are available are heavily abridged too, it's a very sad state of affairs.
As for the heavily abridged versions, that too I don't really mind. When done right, it can reduce the length of the audio while still retaining all quality components of the story.
At one time, there were technical limitations on how many hours of audio you had available; you could only cram so much audio onto each cassette, so something had to give. Friends of mine used to make some freelance money abridging books down to a designated length of time. I gather there was an art to it.
Not sure if that's still an issue anymore.