Maybe early on, but later ... yuck!
Heinlein's later novels demonstrated that: he had an obsession with breakfast; was rather intrigued with the idea of incest (e.g., Number of the Beast; that he had extreme difficulties putting together a rational plot line (e.g., Friday).
Personally, I think he was a pathetic person writing pathetic books. Most of his characters were so supremely superhuman that the can only reflect a despair over his own physical disabilities.