Tldr:  Wahhhhhhh 😭😭😭

I'm legit fighting back tears writing this, I very much loved this book, and while I have criticisms, they are mostly towards the author's narrative shenanigans and not towards the book itself.

I'll start with the shenanigans:
At the end of the previous book, Prelude to Foundation, Asimov included a scene which proved to be a gigantic mistake, Seldon's revelation that Dors was a robot.
After Hari was told the four laws of Robotics by Daneel, he then figured out Dors was a robot, based on her extraordinary physical abilities and her very strong desire to protect him.
After revealing his suspicions to Dors, and asking if she'd ever kissed or slept with any men (why is that his first question???) she revealed that she only let men kiss her and have sex with her because she could not hurt them and thus did not refuse them, she literally had no choice. Then Hari proceeded to say and do things that boxed Dors into a romantic and physical relationship with him as he put pressure on her Zeroth and First Laws. It was disgusting, and it made Hari look despicable, and that was on top of Asimov already portraying Hari as being a dumbass.

So now with that context, let's start with this book:
Asimov did everything in his power to retcon that end scene, gaslight the reader and roll over that scene with a bulldozer and atomize it from our memory banks. He failed, and the attempt made me lose some respect for him as a writer.
Hari Seldon in this book did not know Dors was a robot, and he acted as if he never accused her of being a robot and like he never even thought she was a robot. This book quite literally continued from previous book from the point BEFORE the end scene, literally acting like it didn't exist!

Dors was one of the few woman characters in Asimov's catalogue that actually had depth and who's sole purpose wasn't to be a romance or sex object, and thank fuck he did not turn her into that in this book. While her character was quite repetitive in this book (as was a lot of things), she did have a her shining moments and even reminded me of Elijah Baley where she was walking around and questioning people and coming to conclusions from what seem like out of left field. It was brilliant and I enjoyed it.

This book felt brimming with life, the whole world felt real and alive, and this was attributed to the way it was constructed, which was very reminiscent of his novella I, Robot.
This book makes me feel like Prelude to Foundation should not have even existed, all the interesting stuff from that book could have been squeezed into this book and this book could have cut some of the fat away and it would have been a better book.

Hari in this book was less of an idiot like in the previous, but still a bit of an idiot. And it became quite clear that his work on Psychohistory didn't even contribute much and it was other people like Yugo who were the real builders. So history remembers Hari Seldon, the creator of Psychohistory, the man who came up with the plan, yet it was not he alone, and yet he's happy to take the credit.

This book was quite emotional, so many sad moments and some joyous ones too. Raych was my favourite character, with Emperor Agis being a very very close second. I very much loved Raych's character development, and Agis' friendship with Hari may have been short but it was lovely and I really enjoyed his portrayal as not being a typical pompous insecure emperor, he had no power and did not want the position and felt he could be himself completely with Hari.

I'm finding it difficult to to review this book because it felt like so much crammed into it, so much happened, it literally spanned like 40 years of Hari's life. Oh also, Wanda was an interesting character,

I was not expecting her to have Mentalic abilities.

Overall, one of the better of his Foundation books, and a fitting end.