Haha okay that tracks. I haven’t read much Heinlein but I remember being very confused at the end of Time for the Stars when his brother’s granddaughter was like “Hi uncle time-dilation with pop-pop’s DNA. Welcome back to Earth. We’re getting married now.”
“Sorry, what?”
“I grew up trading your thoughts. It’s not incest if you’re psychic.”
Depending heavily on the reader, but for modern audiences, Foundation.
The tv series incorporates stories from other Asimov books, original elements, reimagining…
In the book, not only is ALL the action offscreen (a fact that shocked Asimov when he reread it decades later after being finally convinced to write a fourth book), but also almost all of the main characters never meet, since they are generations apart, and many of them are just generic guys with no real backstory.Especially Gaal, who instead of being arguably the main character (badass female swimmer psychic heretic mathematician cryo-time-traveller) in the TV show is simply a hapless narrator (and a dude with no characteristics) in the first small part of the first novel.