A Heritage of Stars(1977)

Clifford D. Simak

Thousands of years in the future, Thomas Cushing is haunted by the history of his ancestors. His quest is to regain humanity's lost heritage, and he sets out to find the fabled Place of Going to the Stars, from which ancient technological man left earth to travel among the alien civilisations of the galaxy. As he travels he gathers about him a selection of weird and wonderful beings - a group of stalking shadows; Meg, the hilltop witch and a shivering ghostlike snake. Along with Rollo, the last surviving robot, Cushing and his companions embark on an exciting and wonder-filled adventure of the far future.