Hiya.
Yeah, 'listen for' is fine. A lot of intransitive verbs can go with different prepositions. 'Listen to' means you actually hear something; 'listen for' means you are expecting to hear something.
A (hopefully) clear example:
You're about to run a race, and the official fires the starting gun. 'Listening to' the starting gun would make no sense - it's such a quick sound! You hear it, but you can't listen to it. Instead, while you're waiting, what you're doing is 'listening for' the sound - ie. you're expecting it and waiting to hear it.
Hope that's clear.
Matt