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Does anyone know any Hard Sci Fi books about humans surviving without any hospitable worlds?
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You might get some value from Stephen Baxter's Manifold series; while they aren't central to what you're asking for they definitely deal with humanity coping with a hostile universe. Heinlein wrote a couple of short stories set on a generation ship, although I can't bring the titles to mind. Accelerando takes place in many manufactured settings, rarely earth like (past the first major part). Brin and Benford's Heart of the Comet may also point in the direction you want.