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I admit I read the Claudius novels a long time ago, but as far as I recall the characterization was not terribly accurate. Some characters were idealized (Postumus, Agrippina the Elder, Germanicus) and some were demonized (Livia, Tiberius to an extent, and there were others). Still, the books are pretty entertaining and I learned a lot of interesting stuff about ancient Rome from them.
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