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Well that's one nitpick I have there... in Asimov's story universe, hyperspace "jumps" are instantaneous. Multiple jumps are needed to go from Terminus to Trantor, which could be due to range limits of a single jump, but are plainly also due to navigational uncertainties, but the simple fact is...

More to the point, how did "communications" actually work? Hyperspace radio? Or sending actual ships?

Excuse me? They have spaceships with interstellar capability... but without nuclear power? Or maybe Anselm haut Rodric, being part of the pointy-haired-boss level of that society, really has not a clue. The spaceships being a legacy technology for them, which they no longer understand nor...