Guards, Guards. Terry Pratchett. First in the city watch group of his Discworld universe. You could skip the first one and go to Men at Arms, which is probably a little more… where he gets in his groove with the city watch, but I just can’t let myself not recommend starting from the beginning.
Guards guards is the 8th in the Discworld universe, but you do not at all need to start with book 1. The Discworld universe is vast, and you could read them as published or you could read them by group. Each group centers on different people/species/problems, with varying levels of interconnectivity. I love all the different groups, and while all the groups have books with romps (in fact the entire universe is a big giant series of romp after romp after romp), I’m suggesting city watch as it seems to be the most accessible group to start with to those unfamiliar with Discworld.
Anyway, this could go on forever, essays have been written. And I’m rambly and ineloquent so im gonna stop now.
Guards! Guards!
https://www.goodreads.com/book/show/64216.Guards_Guards_
Great characters, there is a plot. It’s fantasy, yeah, I know that’s an immediate no for some, but it really should not be for this universe.
“This is where the dragons went. They lie... not dead, not asleep, but... dormant. And although the space they occupy isn't like normal space, nevertheless they are packed in tightly. They could put you in mind of a can of sardines, if you thought sardines were huge and scaly. And presumably, somewhere, there's a key...”
And if you want to skip to Men and Arms, the second book centering on the city watch group:
https://www.goodreads.com/book/show/400354.Men_at_Arms
"Be a MAN in the City Watch! The City Watch needs MEN!"
But what it's got includes Corporal Carrot (technically a dwarf), Lance-constable Cuddy (really a dwarf), Lance constable Detritus (a troll), Lance constable Angua (a woman... most of the time), and Corporal Nobbs (disqualified from the human race for shoving).
And they need all the help they can get. Because they've only got twenty-four hours to clean up the town and this is Ankh-Morpork we're talking about...