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Originally Posted by Dazrin
The Murderbot series by Martha Wells (more language and violence in this one but very good.)
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These are great, and should fit your criteria well. (I've only read the two first ones so far, am saving them
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I also suggest Lois McMaster Bujold's Vorkosigan series: Science fiction, space opera-ish in all the best ways, where flawed people do heroic things, mess up badly and fix things dramatically, with war and peace between multi planet space empires, space mafia, and more). In some cases, the reader is aware that people have had sex (someone gets pregnant, someone talks about a past lover or past infidelity, someone gossips about someone elses's sexual orientation) but there are no sex scenes spelled out. In the prequel ("Shards of Honor", part of the omnibus "Cordelia's Honor") there's an attempted rape which gets interrupted. You could drop the prequel (though it's good), or if you like I can quote that scene so you can decide if you want to read the books despite it.
She has written two fantasy series which have magic in an ambivalent light -- there's some very destructive, dangerous magic, but it can be harnessed (with care, and some potentially destructive side effects) and serve good purposes, so that's probably not for you. "Sharing Knife" also has a sex scene (though it's a lot more about emotions and communication than about which body parts touch where).
Does anyone remember if there's any sex in Ann Leckie's Ancillary Justice series? I can't remember any, but may not have noticed. That's another space opera-ish one, with a huge sprawling space empire, politics, war, and individual heroics.
For classics, if you're interested in interpersonal relations, shrewd insight in people's flaws, and dry humour, I suggest Jane Austen.