The Long Way to a Small, Angry Planet: Wayfarers, Book 1

A diverse crew is traveling through space to complete their mission on a ship. Each crew member has a different backstory. There are hidden run ins with the law as well as secret wealth. They run into "pirates", yet are able to take advantage of past learning to not have very negative outcomes. 

A lot of time is spent exploring the different relationships. Different species have very different customs, many of which are weird or offensive to others. There are also those that believe themselves superior to others. Artificial Intelligence beings add another twist on things. (An AI falls in love - but loses the understanding of the relationship when rebooted.)