According to Cambridge dictionary “hearing” is an event. In other words, it is something which happens to us as a natural process.
While “listening” is an action and is something that we do consciously.
Example:
Contracts must reflect the intentions of the parties, therefore, use common sense formulations and plain English. Contracts must be concise, so use shorter sentences. Also,
Expressions often used by lawyers and that cause confusion are “according to”, “in terms of” and “in accordance with”. “according to” is a prepositional phrase and we use “according