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Hi, I'm Heather, an attorney with 15 years experience.
Normally, if you don't have a contract that forbids it, you should be okay to publish your book. However, where the subject matter is so connected you would really be more safe to have your employer sign a waiver. Most of the time, you can contact your employer's HR dep't and describe your project to them and confirm that they are not going to make a claim.