For a view of what this looked like on the ground, you should check out "Musui's Story: The Autobiography of a Tokugawa Samurai".

It's the autobiography of Katsu Kokichi (Musui is another name he was known by), a samurai born in the early 19th century to a very low-ranking family. It's a firsthand account of life at the very lowest fringe of Shogunate society at the very end of that system, and is quite entertaining because Katsu is a lazy good-for-nothing who can't even get one of those pointless bureaucracy jobs and survives by doing "lowly" merchant work. I think it would make a pretty funny TV show because the protagonist is such a hapless loser.

My major source for all this was Marius Jansen's The Making of Modern Japan. It's a sweeping book - 600 pages, I think, and covers everything from 1300 to 2000 - but one of its main focuses is the end of the Sengoku period and the rise of the Tokugawa.

you could also read shogun by james clavell, which is a fictional novel based on tokugawa. i read his whole asian saga series because that first book was so good.