Basically the rang stong/gzhan stong controversy is bullshit, and so is the prasangika/svatantrika controversy.
If you want to understand Madhyamaka, don't read Tibetan accounts of Madhyamaka dating after the 13th century. And here, it is better still just to rely on Indian masters. The sole exception to this is Khenpa Shenga's treatises, which are just Indian commentaries turned into footnoted annotations of root texts.
Keeping the above in mind, what would you recommend in English?