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Short review: I like Lucado's stories and method of helping us look at the story of scripture through new eyes. The basic message that God loves us personally is good. The idea that we are always longing for God in this life is also good. I am not a fan of his views about how we always are striving after heaven and the next life. But while that is a major component of this book, it is not really that big of a deal once you get to the ramifications of the book.
A longer review is on my blog at http://bookwi.se/lucado-god-whispers/