Elijah has been dead for many decades, but Gladia, Daneel and Giskard are still going strong, as is Earth and its second galactic-diaspora, settling any empty planets that are suitable.
On Aurora, Hans Fastolf has just died leaving a vacuum that Kelden Amadiro is eager to fill, in order to enable him to take his ultimate revenge upon Earth and the Settlers.
Daneel and Giskard know that something is planned, but have no idea what it is.
Meanwhile, on Solaria, all the humans have disappeared and been replaced by overseer robots who only recognise people with Solarian accents as human — under the three laws. This leads Daneel to creating the Zeroth law in order to save humanity.
And there’s lots more besides.
Another super well written sci-fi novel from one of the masters of the genre.
Next up in Robots and Foundation will be The Stars, Like Dust.