I, Robot was the very first science fiction book I ever read and it made me a fan for life. So again, there really are no hard and fast rules here.
Fair enough. For me it was “Have Spacesuit…” but when I read that as an eight-year-old in the 80s, it felt archaic even then. My own kid at the same age 30 years later, in the late 00s, got around to the juveniles eventually, but I primed him with contemporary writers like Westerfeld first.
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I absolutely adored the Heinlein juveniles and think they have actually aged much better than his adult novels - they mostly have strong tomboyish female characters and less gagworthy sex