"The Rookie" is a wonderful study in building a show based upon characters and their interactions with each other. They have wisely tempered Nathan Fillion's appearances but it hasn't been a problem for him. One of the best new show's in recent memory.
I don't know how authentic it is when the question of police procedures is broached, but I find them enjoyable and interesting. No single character dominates the series, which is one of its strengths. There is a good blend of charm and humor , mixed with poignancy and even a couple of "gut punches". There honestly isn't a single regular character that I dislike. Each has a different kind of reason for investing yourself in them.