H.W.
I'd highly recommend both you and your husband reading "Taking Charge:Caring Discipline that Works at Home and At School" by JoAnne Nordling. I think this book would be helpful if you are willing to read it and stick with the corrections/suggestions. (We used this book with my preschool and my son's preschool also requests parents read it, as they use it as a guideline for discipline as well.) I can tell you as a preschool teacher myself--the best way you can support his teachers is by having clear rules and consistent correction at your own home. If it's not a 'fact of life' that he must listen at home, then expecting him to do it at school is a pretty big stretch for him. It's time for you and Dad to lay down the law and help your son to understand that it's expected that he listens to the adults or you are very right, he will have a difficult time at kindergarten.
The other piece of advice I can offer is to talk to the pediatrician and see if some Occupational Therapy would be right for your son. An OT would be able to help your son understand what was expected of him in social situations/class situations by explaining, practicing, and giving you and your husband 'homework' to continue doing this good work at home. If this feels beyond you, then perhaps a family counselor who is comfortable giving you and your husband support on changing this 'not listening' dynamic would be helpful. I say this without judgment--we all have challenges as parents (I know I certainly do) and sometimes trying to change how we do things triggers other, unexamined fears or issues regarding our relationships with our child, spouse or our own parents. Sometimes parents aren't comfortable being firm with discipline because they are afraid their child won't like them anymore... I'm not saying this is your situation, by the way, but sometimes support or a parenting workshop can provide valuable support and feedback. Good luck!