The Autobiography of Malcolm X is precisely what you're asking for. It's an important read but also just a fantastic read...like it's genuinely very entertaining. It's written verbatim from recording made by the transcriber within like a month of his death and it's a full life story and although it's a direct transcript, it's very novelist anyway
Edit: strictly speaking though, no. There are biographical works that will involve theory and teach some. But strictly speaking, you're not reading theory, you're reading a biography. A text of political theory is the kind of text that doesn't really have any characters. It's kinda like asking for a math textbook with a main character.
That said, I struggled to understand Marx at first because I didn't know who anyone was. It was all words and concepts. Then I read the first book in Isaac Deutscher's trilogy on Trotsky and the first Fear of Mirrors novel by Tariq Ali. After that, I could picture a young Hegelian not as an abstract theoretician but as someone who thought a certain way and lived at a certain time. Made it all much easier and things flowed from there.
Bullshit Jobs by Graeber has a very distinct voice, with it either being Graebers reflections on his own life, or him responding to letters people have sent him about their experiences.
The Michael Parenti lectures are great too. All free on YouTube. Usually he's speaking at a lecture and reading some excerpts from his new book. His signature is that he always has a problem with the mic and complains about it in very Italian American fashion. Very witty and spirited. I find Parenti endlessly charming. I kind of love that man. Just pick a lecture you like the sound of, and have a watch/listen. They're reposted unofficially on Spotify under 'Not Michael Parenti'. I'd recommend the ones where he talks about movies and media to start with - they're the most joke filled, and pop-cultureish, which makes for easier listening.
Kropotkin's "the conquest of bread" reads super easily, it's super inflammatory, and has some very good points of theory. It's on YouTube on audio format
It’s not exactly what you’re asking for, since it doesn’t have a main character and it’s not theory, but Mieville’s October reads like a novel and it tells the story of the Russian revolution. Worth a read since it’s educational and a fun read. Aside from some lame anti-Stalinism at the end it’s solid imo.
Unironically, Trotsky's autobiography "My Life" is heavy on personal details and relatively light in theory while also going over the entire Russian Revolution. Obviously he comes from a unique perspective which you might not agree with, but his overall depiction of events leading up to the creation of the USSR is pretty accurate. And Trotsky 100% writes like he is the main character, so it will probably fit your needs. https://www.youtube.com/watch?v=4v3YxJpw8KI
Though I haven't read it yet, the fact that Lenin, Plekhanov, Kropotkin, Kollontay, Luxemburg, and Emma Goldman have read and were influenced by it speaks volumes to its value as literature.
There's a comic called Red Rosa which is a pretty good summary of Rosa Luxemburg's life, it's not particularly theory dense, but it is Marxist and goes into some stuff lightly.
[...]
Let us take a shoemaker who owned a tiny workshop, but who, unable to withstand the competition of the big manufacturers, closed his workshop and took a job, say, at Adelkhanov’s shoe factory in Tiflis. He went to work at Adelkhanov’s factory not with the view to becoming a permanent wage-worker, but with the object of saving up some money, of accumulating a little capital to enable him to reopen his workshop. As you see, the position of this shoemaker is already proletarian, but his consciousness is still non-proletarian, it is thoroughly petty-bourgeois. In other words, this shoemaker has already lost his petty-bourgeois position, it has gone, but his petty-bourgeois consciousness has not yet gone, it has lagged behind his actual position.
Clearly, here too, in social life, first the external conditions change, first the conditions of men change and then their consciousness changes accordingly.
But let us return to our shoemaker. As we already know, he intends to save up some money and then reopen his workshop. This proletarianized shoemaker goes on working, but finds that it is a very difficult matter to save money, because what he earns barely suffices to maintain an existence. Moreover, he realizes that the opening of a private workshop is after all not so alluring: the rent he will have to pay for the premises, the caprices of customers, shortage of money, the competition of the big manufacturers and similar worries — such are the many troubles that torment the private workshop owner. On the other hand, the proletarian is relatively freer from such cares; he is not troubled by customers, or by having to pay rent for premises. He goes to the factory every morning, calmly goes home in the evening, and as calmly pockets his pay on Saturdays. Here, for the first time, the wings of our shoemaker’s petty-bourgeois dreams are clipped; here for the first time proletarian strivings awaken in his soul. [...]