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The Rama Series by Arthur C Clarke
I think this is a good contender for the show being better than the book (which was incredibly dry Sci-Fi with almost no character content).
That’s just the first book. The other 3 books were much larger and had plenty of character content.
Honestly, I didn’t bother with the other three after reading the poor reviews for it, maybe I’ll give them a go.
Edit: Actually, I’ve read the second one, which was definitely better. I just have read that the last two ain’t too great.
It’s one of my favourite series of all time. Worth another go.