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I've found that the best way to truly grok Forth conceptually is to implement one yourself - and I don't mean a toy interpreter, but the real thing producing basic threaded code. Then you understand why it is the way it is, and what its strong sides are. Starting with a book that merely describes how to use it like any other PL just leads to questions like "why is this so weird?".
Jones Forth is a common starting point - it has more comments than actual code, explaining the design in detail: https://github.com/nornagon/jonesforth/blob/master/jonesfort...