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I’m looking for a good book on multivariable and vector calculus for a first/second year undergrad course. I’ve been using Stewart’s Early Transcendentals so far, but probably because I haven’t attended any of the lectures I don’t feel like I have a very deep understanding of the ideas. I’m looking for a (slightly) more rigorous, detailed textbook (or lecture notes) with lots of challenging problems for effective revision.

Thanks for any recommendations!