I think is the most dynamical book from the trilogy. Asimov invested less on dialogues and more on actions and characters developments in this publication. The book closes some of the greatest experiences of creating a utopical universe, showing brilliantly its changes throughout the centuries.
It is hard to write it because we are talking about a publishing from 1950s, but what annoyed me the most was some gender gaps. It made me harden to picture this futuristic scenario.