For All Mankind is the Star Trek prequel we should have had. Co-created by Ron Moore (Deep Space Nine, Battlestar Galactica), the show has a bunch of Trek alumni working behind the scenes. It features human drama (and sometimes melodrama), geopolitical diplomacy, sweeping cultural change and scientific adventure against the backdrop of a multi generational future history, starting with the first moon landing.
As others have pointed out, Foundation isn’t a particularly faithful adaptation of Asimov’s stories, but there good things in it. It might be more accurately titled Foundation and Empire IMO, because it focuses as much on the Empire side of the story as the Foundation. The first season was lopsided. The Empire plotline was compelling, the Foundation ones were… not. Haven’t watched the second season yet, but apparently it’s more consistent.