Yes I have watched the series, but not the newest season yet.

They’ve definitely truncated things and brought a few future story lines in, but like other series, casts change between books, so trying to keep story lines with main cast in place instead.

They’ve definitely truncated are also doing three story lines in one, Robots aren’t talked much about as they’re, you know gone. So all that lore is taken from the Robot series. Robots existed before the galactic empire was a thought in people’s minds.

And there’s no real stories about the galactic empire, you only know of the current Emperor because of Haris involvement. The three novels are more about humanity working towards to galactic empire. There’s a few Empires that have quite a few planets and are starting towards it.

All in all, most of his series were stand alone, until he used the last two (40 years after the others)foundation novels to combine them, there is SOME minor continuity errors because of this, just stuff shoehorned to combine, since there’s millennia between the series.