Click on the link to find the the track list with chapter titles and durations for all four volumes of The Story of the World.
Copy/paste it into your preferred format, or use the spreadsheet to create a tab-delimited file to download the information into your preferred audiobook reader or media management system. This article can help you with that process.
The durations are stated for the Original Audiobooks. The 2020 Revision of Volume 3 and the 2021 Revision of Volume 4 have the same titles; the durations might be different by a few seconds in any given chapter/track.