I'm worried that because I can't travel to Shirdi, Baba won't hear my prayers. Is there a story in the Satcharitra that shows He is with us no matter where we are?

Yes, the story of Cholkar in Chapter 15 provides profound reassurance on this very point. After Cholkar finally made it to Shirdi and fulfilled his long-delayed vow, Baba revealed that He was aware of everything all along. Baba explicitly told him, 'Wherever you may be, if you spread your hands before me with faith, I am standing right there with your faith, day and night.' He further emphasized this by saying, 'Even if my body is here, and you are beyond the seven seas, Whatever you do there, I know it instantly.' This powerful account demonstrates that physical distance is no barrier to reaching Baba. He resides in your heart and is always with you, aware of your every thought and prayer.