I can think of several:

Poul Anderson's Nicholas van Rijn and Ensign Flandry short stories and novels.

James H Schmitz' Telzey Amberdon and Trigger Argee short stories.

Jerry Pournelle's John Christian Falkenberg stories.

Martha Wells' (Murderbot) Raksura books, about a humanoid alien called Moon on another planet, still coming to grips with living in a population of his own species.

The Liaden (lee AY den) books by Sharon Lee and Steve Miller, although that's more about a family.