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I have often thought (looking back) that Heinlein's post-70s work demonstrated that his health issues were affecting what and how he was writing and that it really came to light in his 80s work. I'm not saying his work was ruined or anything like that, just different and in some cases wildly different from his earlier works. Whatever the reason he sure became less shy about putting forth some very "alternative" ideas about what society might consider proper in the future.
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