Can anyone recommend a good book for learning modern Prolog?

It still is.

Think of CLPFD and other contratint systems as something that makes Prolog better. You still need to understand Prolog to effectively use such with Prolog.

See: Useful Prolog references

While you did not ask this I will toss it in.

If you have heard about programmers using ChatGPT and other LLMs to become more effective at programming then see this series of topics.

LLM (Large Language Model) such as ChatGPT prompts related to Prolog

While many of the Prolog code examples from ChatGPT are not correct working code, they will give you some ideas.

Also check out Learn Prolog Now!