When Asimov wrote the trilogy, he wasn't trying to write a Shakespearian epic. He was warning us about civilizations, AI and systems thinking. Accordingly, he used a very thin writing style that beautifully portrayed his vision. That is the reason why little of his material gets adapted.
I won't be rereading the books as I know this well made series has to have its own narrative to make sense on television. Expecting the series to follow the books is just self harm; don't do it.
The visuals are mainly strong, no question the money was well spent. The script is fine so far, with little fallback to cliché. Some of the scenes are uneven, but not critically so. There is some bad sound at the beginning of episode one, and maybe a tendency to lose pace a bit like Raised by Wolves.
This is clearly going to work well for Apple, in the age of grandly made sci-fi classics. But it might test an audience expecting Game of Thrones in space.