Publication order (Foundation → Foundation and Empire → Second Foundation → Foundation's Edge → Foundation and Earth) is strongly recommended over chronological order. The two prequels (Prelude to Foundation, Forward the Foundation) work best as epilogues to the main series rather than entry points.
Yes — the Apple TV+ series (2021–) is a loose adaptation that combines and reimagines elements from across Asimov's novels. It's set in the same universe but takes significant creative liberties with plot and characters.
Yes. The Robot series (I, Robot, The Caves of Steel, The Naked Sun, The Robots of Dawn, Robots and Empire) and the Galactic Empire novels are all set in the same universe. Asimov eventually connected everything into a single continuity. Foundation is best read first; the Robot novels can be read independently.