You need a trained ear to hear the difference.
I've mastered audio tracks before. While I'm not a pro, I do have experience with high resolution, high fidelity audio. I'm talking 96khz 24 bit tracks through top of the line studio monitors. In my case, I have a sensitive and trained ear. On a proper audio system, I can pass blind tests easily. It just boils down to experience and hearing ability. I only say this to emphasize that *although blind tests seem to fool most people, there is DEFINITELY a difference - it's just that most people can't determine the difference.
The truth is, 99.9% of people don't know the first thing about music or audio quality. Most people are happy with booming bass and call it "high fidelity". Almost nobody has ever heard a truly responsive audio system, so they dont KNOW what "good" really is. Good a is a relative term. So while most people can't hear a difference, partially it's because they're ignorant to the fact that they've never had the chance to actually HEAR the difference.
Which brings me to my last point... As everyone else has said on here, it's impossible to design a car to be 100% acoustically accurate. That being said, no matter how much money you spend on your sound system, you'll never be able to tell the difference between high bitrate MP3 quality and CD quality.
** So to directly answer your question, it doesn't matter if you burn the discs as data or audio - you'll perceive the same quality. This is assuming that your mp3's are of good quality.
edit: Something to note... the higher quality your sound system, the WORSE lower quality audio will sound. For example - if you're listening to an MP3 on studio monitors, it will actually sound WORSE than listening to it from your iPod with decent headphones. This is because the studio monitors recreate the "poor" quality signals much more accurately. In other words, high quality audio systems make imperfections stand out more.
Think of it like watching standard cable on an HDTV - it looks worse than a normal TV right? That's because the HDTV more accurately shows how crappy the standard cable signal is
