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Not read it, but that bit sounds hilarious.
And wasn't Farnham's Freehold immensely racist?
I wish it was just one bit, but it's the whole book. 550-odd pages spent arguing about who should be captain now, and who should be co-pilot, and should X obey the orders of Captain Y if this is a democracy, and shouldn't they vote, and should X call Y "Captain" or "Commander" or "dear", and shouldn't it be a dictatorship instead of a democracy, and if X argues with Y again he'll be thrown off the ship (despite the fact that X and Y have been married for 40 years) and oh no! All of the clothes have disappeared.
The first half of Farnham's Freehold is virtually identical - it's just Heinlein working out his weird fantasies (ie. being locked in a small room with a group of naked women who all want to sleep with him, despite one of them being his daughter) with the characters arguing hysterically about who's boss now and anyone who argues will be shot, even if that character is the boss' son. It's a lot like the male version of a Virginia Woolfe novel. The characters are totally irrational, unlikeable and have stupid, pointless arguments when there are far more important things to worry about (for Heinlein's characters, that's usually impending death). The only difference is that Woolfe's characters rush off to have a cry or paint a garden scene, whereas Heinlein's characters pull guns on each other or undress.
Nudism and bizarre relationships are pretty much the only themes that run throughout all of his novels. He started out being extremely left-wing but, when he married his last wife, switched to being a staunch right-wing nutter who suggests that, in a nuclear war, "Killing the poorest third [of the global population] is good genetics" (Farnham's Freehold, 1992, p34).
As to whether or not Farnham's Freehold is racist, I'm not sure. It was first published in America in 1964, so if you contextualise it you wouldn't be surprised to find that it was racist. However, Farnham himself (I assume him to be Heinlein's mouthpiece) isn't a racist character. The situation he finds himself in could be read as racist ("Look what would happen if the darkies took over!"), but equally it could be read as a challenge to accepted thinking ("How would you white folks like it if the tables were turned?"). None of the characters, irrespective of skin colour, behaves in a way that could be considered admirable. All of them have good moments and bad moments, but ultimately they're all as unpleasant as each other.
Racist or not, though, I seriously suggest avoiding it. I bought it last week, after thoroughly enjoying his Famous Five in Space novel "Space Cadet", and was bitterly disappointed to discover that it was another Number of the Beast-style waste of money.
On a different note, everyone should read Asimov's "Foundation".