Stephen Baxter does a great job with hard sf, and much of Kim Stanley Robinson's work fits the bill.
Edit:
Oops I guess I did say that people who liked it hadn't read real SF. What I meant by that was that they were an exposed to a lot of the genre, because the "original" ideas in TBP I keep hearing people praise felt very familiar and tropey to me.
"The central narrative is that of humanity rising and evolving to become the second most powerful race in the universe, next to the god-like Xeelee. Character development tends to be secondary to the depiction of advanced theories and ideas, such as the true nature of the Great Attractor, naked singularities and the great battle between baryonic and dark matter lifeforms."
Is this what you think is harder sci-fi than TBP, with better character development?
You can also never go wrong with Arthur C. Clarke. Another favourite of mine, "Tomorrow and Tomorrow" by Charles Sheffield.
If you are reading this, Greg: I want to have your book!
Be prepared for a wild ride.