Both. I know a select few.
Much of the sci-fi I've read was more of the sort that is more psychological than true sci-fi. I.e. CS Lewis' space trilogy, and Huxley's Brave New World.
I've read a tiny bit of Heinlein. I liked The Moon is a Harsh Mistress despite some of the weirdness...didn't finish some of his other books I've tried. For one, I don't really like hard science type stuff, and tended to skip over those parts. I admit it, I find people more interesting than technical details on how long distance flight might work. Tell me it works, and I'll accept that - now get on with the story!
Have you tried Heinlein's Glory Road? It was his homage to sword-n-sorcery fiction.
Have you read any of Vernor Vinge's books? We read "A Fire Upon the Deep", and "A Deepness in the Sky". They were kinda funky, but interesting characters and stories. I'm with you; just get on with the story. SirKit enjoys the tech stuff, I like the characters and situations. Strange, though, but I loved Tom Clancy's novels, and he put a lot of tech stuff in them. The stories helped move the tech stuff along, though. Though I must say, in "Sum of All Fears", my eyes began to glaze over when he was talking about the construction of the nuclear device.