This is kind of the plot of the Forever War. Because of time differential, the crew which reigned to earth between missions watches humanity evolve drastically from when they first left.
Developed a passion for space travel and orgies, did you? Me too.
Seriously, though, it's a good book. Pretty hard on the sci-fi spectrum and deals a lot with how time actually functions in space, which a lot of books don't touch (even harder sci-fi books like the expanse)