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I first read this book while in high school and after learning about Elon Musk's AI program, listened to the audio book version and was reminded about how much I loved this story 50 years ago. It's amazing how prescient the story is in both the prediction of technological advancement and depiction of societal, political and cultural evolution. Here is a summary of the book (with help from Perplexity):
Valentine Michael Smith is the sole survivor of the first human expedition to Mars, raised entirely by Martians after all other crew members perished. When a second mission from Earth arrives about twenty-five years later, they bring Smith back to a post-World War III Earth ruled by a global federation. Earthly customs - particularly around sex, death, money, and religion - are confusing and often alarming to Smith, making him an outsider in his birth world.
Smith is confined to a hospital for his own protection, but forms a pivotal connection with Nurse Gillian Boardman, becoming her "water brother" through a Martian ritual. Along with reporter Ben Caxton and the wise, eccentric author Jubal Harshaw, who becomes Smith's mentor, Smith escapes government control and begins exploring human society and its beliefs. As he gains understanding, Smith uses his Martian-learned psychic abilities - such as telepathy and telekinesis - and unique philosophy to influence those around him.
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