you heard him talking about that 为hear sb doing 句型,听到某人正在做某事
you hear him to talk about that这句话不对,一般没有hear sb to do
you hear he talk about that这句话和下一句话其实一样,that引出宾语从句,that可省略
you hear that he talk about that听到某人正在做某事，那听过某人做某事呢， listen才代表听的过程吧hear sb doing听到某人正在做

hear sb do 经常听到某人做，或者听到某人做过某事（动作全程）
听过那就用hear的过去式heard

一般不用listen表示听的过程，listen强调听的动作，是个不及物动词，要么直接用，要么后面跟to加宾语表示听什么什么反正我中学时学hear这个词，没听说过hear sb to do，我们用的都是do和doing和that从句