I haven't read Robert Heilein's novels in a whole, so I'll leave my statement as, "To my knowledge, Star Wars is the only story that bothered to craft an entire society, complete with structures from space to the surface."
When people think of Star Wars (particularly the movies) they only think about those X-Wing fights and the Ewoks (and wookies, to a lesser extent). There're ships, droids, all that fun stuff, lots of lasers. But it's easy to overlook how every planet in Star Wars has its own distinct society, and it's not some makeshift world, either. Let's take a look at Cloud City, for instance.
For some reason or other, society is based on an airborne locale. The surface doesn't seem to have any inhabitants. Vehicles are primarily full-fledged aerocraft. Buildings are these giant floating infrastructures. One would imagine the ships land on top, a collection of gigantic harbours and the likes. Could be wrong. The inside is a bustling metropolis, akin to a giant supermarket of sorts, except some of the buildings are residences.
You can get a similar taste of Coruscant as well as other planets. Coruscant during the reign of the Emperor would be a planet that has half of the surface entirely colonized into a city. The air seems heavy with pollution, there're hovercrafts whizzing everywhere, with cities grasping high into the air. Plenty of slum areas, lots of illegal activity (enforcement isn't very solid) and an overall dark environment, such as one would expect from an extremely high-tech and yet loosely-enforced capital city.
There're small details. Buildings are made of some advanced form of concrete. Doors are generally sensor-based, either through motion or through a touch-pad to the side. People still perform maintenance tasks themselves, while artificial intelligence does manual labor (those droids that were driving Solo nuts on Hoth), tasks involving a requirement of memory (translation, as in the case of 3PO) or zero-gravity work requiring dozens of tools and quick reflexes (R-class droids). Bacta is the handy new form of medical treatment, a miracle fix-almost-all, of sorts. Diseases seem to be generally contained, as a supply of bacta would perform miracles.
Frankly, such an outlook on the future is incredible plausible. Judging solely from the United States, technology is spreading at an incredible pace, and cities like New York will simply spread. Cities that look like present-day New York may become even taller (building-height), and it could in fact become difficult to see the surface of the Earth. I can see how environmentalism may get pushed aside, or at least very unimportant as synthesis of materials becomes possible. Trees may be allowed to grow like heck. It, really, isn't all that hard to imagine cities become taller, with interconnected roadways criss-crossing the skies.
Technology-wise, I think Star Wars didn't guess far enough. Things like Bacta may be engineered into every person. Complete DNA/RNA re-coding might become a possibility. The world would be far more compact than what SW guessed at... you'd probably see far, far smaller robotics (or not see, as they could be extremely small)... and such robotics could cause a downfall in range-based weaponry (a personal shield of sorts).
At the same time, I can see why people wouldn't want to write about such a plausible future. It's not the most dynamic of worlds. Quite static, actually. There's no real "frontier." The only frontier is other worlds. But what if you simply want to sit back against a tree? That's not a scenario that exists in the Star Wars world, unless you went out to some backward country like Kashyyk. I don't think law enforcement would be as bad as depicted, either. In fact, at the rate governments are going now, I'd imagine something like the Minority Report could be far more likely. It's not really a direction of society that causes much lip-smacking.
I also don't think it's how things will turn out.
If the world were filled with engineers and the likes, Star Wars is probable. Hell, it's an efficient world. Gritty, but efficient, and quite simple. I can't really tell you how I think the future'll turn out. Maybe I simply hope that the future won't be like that. It's something I'm struggling with right now. It seems like, in every depiction of the future, the word "beauty" is totally omitted. Why can't there be a future, with technology, with efficiency, but also with beauty and serenity? The future doesn't have to be a world with a New York pace and grittiness, does it?