Reddit reviews Embedded Android: Porting, Extending, and Customizing

Although old, this book does a very good job explaining the Android architecture https://www.amazon.com/Embedded-Android-Porting-Extending-Customizing/dp/1449308295

Given it was written for Android 4, it doesn't have all the new Treble staff (the basis are still the same, so I think it's still worth reading), but the author has a set of slides that you can read after the book to get the recent changes: https://www.slideshare.net/opersys/presentations

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Another useful book is https://www.amazon.com/Embedded-Programming-Android-Bringing-Scratch/dp/0134030001 . This one focuses more on getting AOSP running on a new device, and not that much in its internals or customization.

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Two newer books I have recently found (although I haven't had time to read them) are https://www.amazon.com/Android-System-Programming-customizing-debugging/dp/178712536X (same author as the previous one, content mostly related to building the kernel and getting AOSP running in a new device/emulator) and https://www.amazon.com/Learning-Embedded-Android-N-Programming-ebook/dp/B01841W9AU

They are still pre-treble, but they are probably still useful.

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Besides those, if you want something more related to internals and not so much on how to "get the source code and build AOSP", you could check https://www.amazon.com/Android-Security-Internals-Depth-Architecture/dp/1593275811 and https://www.amazon.com/Android-Hackers-Handbook-Joshua-Drake/dp/111860864X

This book is far and away the best resource I have found for Android internals: https://www.amazon.com/Embedded-Android-Porting-Extending-Customizing/dp/1449308295

Unfortunately it is out of print, I read it on safaribooksonline.com but you can probably find copies elsewhere too.

Check out the Porting and Tuning sections.
Also, the book Embedded Android is good (but getting old) and the guy who wrote it, Karim Yaghmour, as some videos on YouTube, if you prefer that.