I'm not immediately aware of a solid consolidated book on this regard, it's a bit scattered to my knowledge over many journalistic articles and oral histories. If anyone else has a recommendation I am interested as well.
Anyhow, a good place to start on researching this topic might be the 9/11 Tribute Memorial and Museum's YouTube channel where they have some clips from survivor accounts[1], many of these individuals you can google their names and find articles from the time period, for example Stanley Praimnath and Brian Clark. [2] The 9/11 Museum also holds many more oral histories, and transcripts. [3] One account that sticks with me is from a Reddit user that fled lower Manhattan on an abandoned bicycle. [4] There are similar stories in the comments of that post.
I do actually have a book recommendation I have read but it's more about what happened in the months after the events of 9/11: "American Ground: Unbuilding the World Trade Center" [5]