What are some good books that detail the specific clashes between German and Soviet troops?

You might want to look on Amazon for:
"Operation Barbarossa: Strategy and Tactics on the Eastern Front" and
"Thunder on the Dnepr", both books written by my cousin Brian Fugate.
The books are used at the US Army War College, and iirc the Russian Command Officers Training school (or whatever the WC equivalent is).

His belief is that the Russians actually had war gamed a German invasion scenario utilizing a "defense in depth" which led the Germans into areas like the Pripyat Marshes. This severely slowed the pace of the invasion allowing the Russians to keep the Germans out of Moscow until the winter came. In his second book he was able to go to Russia and research the Russian War Archives, and interview surviving officers. The rest is history, very interesting history. Hope you enjoy them.

Also on Amazon:
Last Tiger by Wolfgang Faust. A very detailed bloody rendering of life in a tank on the Eastern Front.

If you want some pretty good detail, look at David Glantz.  Warning, be prepared for a LOT of detail.

I like Paul Carrell's books.