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So after a few subjective years, you will be overtaken by newer and faster ships, and when you arrive, there will be a flourishing civilization already there to greet you.

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And the people in the faster ships will be your grandchildren, yup. Plot of Heinlein's "Time for the Stars", pretty much.

I was thinking of "Far Centaurus" by A. E. van Vogt, but I'll look up the Heinlein as well now.

I read this when I was younger and had no idea what it was called until now. I've tried to remember it a bunch. Thanks!

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