Reddit reviews Generative Phonology: Description and Theory

You might be interested in in Don Ringe's Historical Linguistics: Toward a Twenty-first Century Reintegration, and Kenstowicz and Kisseberth's Generative Phonology.

There is some evidence that slips in timing of articulatory gestures is one reason for sound change, but I wouldn't necessarily characterize that as laziness or lessening the articulatory expenditures -- timing misfires go a long way toward explaining things that cannot be explained by laziness, like epenthesis (e.g. /kʌmpftrbl/ for "comfortable" [forgive the lack of diacritics for syllabic r and l] -- it is not easier to produce the cluster "mpft" than "mft").

K&K are great for understanding phonological tiers (which can explain things like vowel harmony), and Ringe's textbook is really just incredible in every way and an absolute must-own...but relevant to this discussion has a few chapters on the causes of sound change and its spread.

We used Kenstowicz & Kisseberth's Generative Phonology. The practice questions are brutal for our first introduction to phonology.