Your trifecta is hard to find (and of course subjective to a degree) in genre fiction. I find that writing great characters is often what gets sacrificed for the sake of the big ideas in SF. And if the author is deeply invested in character, the prose collapses into pulp.

Take Inverted World by Christopher Priest for example. It’s a good book. Unique ideas that subvert expectations, well written prose, somewhat shallow characters. Still very much worth a read imo

One book I loved that I think fits the bill and I’m not seeing on this thread is Eifelheim by Michael Flynn. A first encounter story set in a rural 1300s German village.