It's actually pretty hard to find sci-fi that just takes place in some alternate reality that still has humans, just they evolved the exact same way but on a non-Earth planet. A surprisingly high amount of sci-fi, even the really out there stuff, implies that Earth existed thousands of years in the past and is just a distant memory. If you don't do that and go the Star Wars route, you're suddenly implying that humanity could evolve exactly the same way on a planet that doesn't have the unique evolutionary pressures of Earth, which is a lot more fantastical and devil-may-care than some sci-fi authors prefer.
Anathem by Neal Stephenson is...kind of sci-fi. There isn't a huge focus on super advanced technology and honestly most of the book could take place in present day because it focuses on a bunch of...academic monks that purposely don't use technology, but there's just enough stuff in it that it's still sci-fi.
Strictly speaking, the book establishes early on that the planet the humans live on is not Earth, but also because of that, the humans don't look exactly like humans for evolutionary reasons. And when the author says "they made a vegetable soup", it has stuff in it that is close enough to carrots and potatoes, and so on, but it's not actually carrots and potatoes. Like, there is literally a preface in the book where Stephenson establishes that all of the flora and fauna on the planet is probably a little different from Earth, but for the sake of expediency, he uses Earth names to describe common flora and fauna and human features, unless there is some unique alien creature that needs specific mention (I'm not sure this ever happens in the book, for all intents and purposes it's a different planet with humans but a totally different world history and geography).
Anyway, you should read it, Anathem is a pretty good book.
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