My brother and I are trying to find a novel we read in the 90s when we were small children.

We can't remember most of the plot, but it was a sci-fi fantasy novel, there were androids and space travel, and the plot centered around this secret ("eternal"?) beast with a cat face trapped inside a dome or a force field or something on another planet? They either had to free this beast, or keep him from breaking free, and I think he was psychic. There was an android named Sarah, I think, and she was in love with a human. One of the characters went off on a monologue about Gilgamesh at some point, too.

It was part of a series. I'd love to find this book and read it again.

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