Rethinking Newton's Principia

It is widely accepted that the notion of an inertial frame is central to Newtonian mechanics and that the correct space-time structure underlying Newton’s methods in Principia is neo-Newtonian or Galilean space-time. I argue to the contrary that inertial frames are not needed in Newton’s theory of motion, and that the right space-time structure for Newton’s Principia requires the notion of parallelism of spatial directions at different times and nothing more