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Well, in the first place there isn't that much of him, and in the second place Heinlein doesn't so blatantly make it clear that he's advocating such a society, he's just postulating it. I can read Asimov and not think that he's a monarchist ...
I can't say what Heinlein thought at the time of writing, however he later tried to deny that the society was even set up like that. And a lot of his fans try to deny it, too - you can get long arguments on the internet. I think that is pretty good evidence that if he ever did think it was a good idea, he changed his mind.
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