Wow, hard sci-fi with a strong narrative, focus on characters, and touching upon the question of morality... I’m afraid we can’t have it all, haha. But Altered Carbon comes close, I think, both the book and the tv show. Also Westworld, though I personally couldn’t get past season one. Some episodes of Black Mirror can be considered hard sci-fi, but I honestly couldn’t care less if the technology they’re talking about in the rest of the episodes is unrealistic or unexplained - I love that tv show to pieces, so I’ll take it all.