I recently re-read Foundation (only the first) with my kid, and I have to agree. The initial chapters with Hari Seldon, and the later segments with Salvor Hard

I recently re-read Foundation (only the first) with my kid, and I have to agree. The initial chapters with Hari Seldon, and the later segments with Salvor Hardin and Hober Mallow, fit exactly the mold you mentioned. They even call the episodes "Seldon Crises". The characters, as always with Asimov, are a bit overdrawn, but there are some gems there as well.