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Middle and End Game Reading Recommendations?

I know praxis is always the answer to becoming a better player, but I'm hoping someone can recommend some good material for developing a strategy after the opening. Years ago I spent too much time and energy learning openings, and to my detriment ignored the middlegame and endgame. Sometimes I find myself in a position with most of the pieces exchanged away without much of a plan about what to do next. I do relatively well with puzzles when I know there is a solution, but in a game I'm lost if I don't see an obvious tactic.

I know some middlegame theory (e.g., centralize pieces, block isolated pawns, rooks on open files, the bishop pair) but I'm miserable at endgames. I sometimes get lucky, but I really have almost no idea what I'm doing once most of the pieces are off the board. Here's a good example of what I mean. In this game Stockfish evaluates it as -1.7 for black. Should have been a relatively easy win, but after swapping the pawns I didn't know what to do. I offered up a draw instead of fighting on.

The first advice is not to offer draws: just play it out to learn.
The top grandmasters play on in drawn positions.
Any book on endgames is beneficial.
In the above position you are clearly winning.
You are a pawn up, your rooks are more active, your pawn structure is better.
The usual plan is to activate the rooks and if possible trade rooks to reach a won pawn ending.
White will avoid trading rooks, which will leave his rooks in inferior positions, so that you can gain more pawns.

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