I always thought that it was his intention to portray the Spacer’s societies as being dystopias with Solaria being the worst*. Although I think that this shows how Asimov felt more than anything else. Aurora struck me as almost idyllic.
Kind of ironic isn’t it, that in his later series of books, the only Spacer society to have survived is Solaria. Aurora having been abandoned, and the survivors having been resettled in the Mycogen sector.