I know the feeling. Tough listening to something like "Abbey Road" with all the gaps.
I solved the problem by combining the medley tracks in Audacity into one track before uploading to my phone. A little work, but problem solved.
Granted. that solution won't work with albums like "Dark Side Of The Moon", because the songs are quite long, though they segue into each other. When converting (or adapting) files for my device, I have sometimes edited them to chop off as much dead space at the beginning/end of the song as possible (mpTrim will do this). Sometimes it works.