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I would actually suggest The Robots of Dawn.
It's actually the third book in the series (though not directly connected) but it's a modern novel.
I mean, that's not to say that the previous two novels in the series were bad, but they were written in the 50s and were like watching a TV show from the 50s - just kind of unnatural in some of the portrayals because I guess they feared censorship or whatever. Which wasn't the case when he wrote The Robots of Dawn in the 1980s...
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