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I'll go out on a limb and recommend David Brin's Startide Rising. It goes a little bit outside of your rule for leads that do not "have a lot of experience from the beginning," in that the leads are extremely competent at their nominal job descriptions. But what makes the book interesting is that all of the characters are thrown into a situation for which they are not at all experienced/prepared--outsmarting and escaping from a horde of alien armies.
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