Shakespeare's Planet

Woken after a thousand-year voyage meant to find humanity a new home, Carter Horton finds his ship stranded for good, tended by the disembodied minds of three volunteers who gave up their bodies to fly it. Outside waits a world already crowded with strangers: a robot named Nicodemus, and an alien called the Carnivore who claims to have known a human, once, called Shakespeare, and to have arrived here through a tunnel across time. As more travelers arrive through that same tunnel, Horton has to work out what kind of planet he has actually landed on. A standalone novel from Clifford D. Simak.