Clifford D. Simak’s 1976 Shakespeare’s Planet is a standalone SF novel.
Carter Horton wakes from hibernation to the news that his starship’s long voyage in search of an Earthlike world has finally succeeded. Unfortunately, this quest took a thousand years in the ship’s frame of reference and even more in Earth’s frame of reference. All of his human companions died in a mishap centuries ago. His only remaining companions are his Ship’s mind and an obsequious robot named Nicodemus.
Oh, and Ship refuses to head back to Earth on the grounds that enough time has passed to make their quest utterly pointless.