The Autobiography of Malcolm X is precisely what you’re asking for. It’s an important read but also just a fantastic read…like it’s genuinely very entertaining. It’s written verbatim from recording made by the transcriber within like a month of his death and it’s a full life story and although it’s a direct transcript, it’s very novelist anyway

Edit: strictly speaking though, no. There are biographical works that will involve theory and teach some. But strictly speaking, you’re not reading theory, you’re reading a biography. A text of political theory is the kind of text that doesn’t really have any characters. It’s kinda like asking for a math textbook with a main character.