There is one game I can think of with a fantastic rule book is Azul. But I think that’s partially a symptom of those rules being very simple to explain and really you can only appreciate how complex it can get by playing. A close second is secret hitler thanks to its rules being all over the game itself.
Other games then fall into 2 categories.
Over simplification: an attempt to not bore seasoned players leads to some rules being up for interpretation. This leads to getting through the rule book quickly but annoyances while playing.
Over explaining: to appease everyone they explain every single thing in extreme detail. It’s agonizing to read through and by the time you’re done you forget how the basics in the beginning (like turn order) work. Some address this by there being guides or hints on the board or whatever.
Personally I have become a big fan of games that introduce things piecemeal or have a basic set of rules but then the complexity is dictated by card text.
But that doesn’t work for every game.