Property [id] does not exist on this collection instance

The error is here:

$books->id

When you're using get() you get a collection and $books is a collection. In this case you need to iterate over it to get its properties:

@foreach ($books as $book)
    {{ $book->id }}
@endforeach

You have to retrieve one record with first() not a collection with get(), i.e:

$book = $this->bookModel
    ->join('author', 'author.id', '=', 'book.author_id')
    ->where('book.id', '=', $id)
    ->select('book.*', 'author.name_1 as authorname1')
    ->first();

Please sobstitute $books with $book in the rest of the code also.