Log in to your account, by going to https://app.listenapp.co/
Click on your profile on the top right, and then select your claimed podcast.
This will redirect you to your podcaster dash.
Profile > Your claimed podcast > Events
Here you will see all your past recorded events. Only you, and anyone you let claim your podcast will have access to these recordings.
Click on the ellipsis of the event recording you'd like to download.
You should see an option to delete the event, and an option to download it.
Audio recordings are high resolution. Sample rate of 48 kHz, bitrate of up to 192 Kbps.