You will not find one great book. It does not exist.
You will also only find books that report historical information. No books on the Sacra Privata from the modern perspective exists.
Some good starting text are:
Beard, Mary, John North, and S. R. F. Price. Religions of Rome. Cambridge: Cambridge UP, 1998.
Scullard, H. H. Festivals and Ceremonies of the Roman Republic. Ithaca, NY: Cornell UP, 1981.
Scheid, John, Clifford Ando, and John Scheid. The Gods, the State, and the Individual: Reflections on Civic Religion in Rome., 2016.
Scheid, John, and Janet Lloyd. An Introduction to Roman Religion. Bloomington: Indiana UP, 2003.
Turcan, Robert. The Gods of Ancient Rome: Religion in Everyday Life from Archaic to Imperial times. New York: Routledge, 2001.
The late L. Curtius Philo was working on such a text for the modern CDR before he died last year. I recently came into possession of some of his notes (literally notes on paper). I hope to get these notes compiled into something useful, understandable and complete in the very near future. It is possible this effort will result in that single book you seek.