You were very lucky to start there.
“Stranger in a Strange Land” is his best Satire. It will be the “Gulliver’s Travels” for the late 20th Century.
Yes, I pat myself on the back often for choosing that one to begin...
However, just about any of his 'juveniles' are better than 95% of the science-fiction (juvenile or adult) written then or now...
I've never found any sci-fi writer that make me want to read his each and every published word except for Heinlein.
Isaac Asimov came close as did Arthur C. Clarke and H. Beam Piper...
Joe Haldeman's 1974 The Forever War gave me hope of a writer in Heinlein's style, but his later works did not do it for me. A friend once suggested John Varney as a Heinleinish writer, but his works were very pale in comparison.
Guess I just got spoiled early by Bob Heinlein, but I feel I am a better person for it!