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Most of Heinlein's stages, were really the stages of editors he worked with.
He started out with the Campbell years. Much of the "Future History" (But not all!) were Campbell era works (or expansion of those works). They have a particular "tone" to them.
The next big block was his juveniles. Some excellent, some very good, some so-so. I would recommend The Star Beast or Citizen Of the Galaxy.
At the same time as the juveniles, he wrote for the "slick" magazines. Most of The Green Hills Of Earth was short stories written for the 'Slicks" (Saturday Evening Post, ect.). They have their own "tone", which was what was necessary to get them to sell to that market.
He wrote 3 adult novels in the Juvenile period, The Puppet Masters, Double Star, and The Door Into Summer, which were for still different editors, some of which were heavily edited.
Then there was the third period, post Starship Troopers, where he wrote what he wanted, and then tried to find a market for the results. His name was big enough to do that, by that time. Some great some not-so-great.
The final period was his period, post brain surgery (carotid artery bypass). Frankly, I didn't like them.
Pick the period you like, and avoid the rest.
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