I tend to listen to the whole band, not just the bass. I,m a reasonable enough guitar player too, so I can listen the way the guitar is linking to the drums via the bass.
Having said that, I was watching a band do a number that we also do, in the same key as well. I saw he was doing a nice lttle run to connect the G and D chords which I wish I had thought of! I have now pinched it and now do the same thing as him