IME there needs to be a purpose to be worthwhile. Is it for entertainment or professional development? There are lists of books that people make, e.g. Bill gates, the singer Noname, Obama's. This way the effort of selecting a book can be outsourced or the group can democratize it. Pick a theme, nominate books, then vote. Call it what you want, happy hour or book club, but meet online and be ready to have a discussion of your and others' ideas.

Also, the discussion should not be a battle. If the group cannot appreciate considering opinions or thoughts on a piece of literature then it might not be a good group to be a part of. Do you judge people for holding non-consensus opinions? inb4 moral relativism, so it's a function of company culture.

Sounds like you have either experienced a bad book club, or have contributed to a bad book club. Touchy-feely things might feel awkward in the workplace so its probably beneficial to avoid books of that nature and stick to subjects where everyone has a valid opinion.