Righto. Though a good bit of that was in there as far back as the 60s with Stranger in a Strange Land and The Moon Is a Harsh Mistress. Two of his best, especially Moon.
He also drifted into time travel for the purpose of incest, which is a little too bizarre for me. Later books started at least hinting at homosexuality.
Icckk.
Still, he had a hell of a run and wrote a lot of stuff that still stands up very well.
I just re-suffered through the last 1/5th of “The Number of The Beast” and he hit all of those things; swapping, incest, homosexuality. Only the animals were left un-molested.