Perhaps Tau Ceti is even close enough to not be trapped to the paradox of interstellar travel: "No matter when you launch a voyage somewhere, some one else will

Perhaps Tau Ceti is even close enough to not be trapped to the paradox of interstellar travel: "No matter when you launch a voyage somewhere, some one else will build a better spaceship and get there before you." Is there a sci-fi novel about this? (an interstellar space voyage for a remote planet discovers humans launching after them already have colonized it when they get there)