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https://en.wikipedia.org/wiki/R._Daneel_Olivaw

That sounds like the people of Aurora.

https://en.m.wikipedia.org/wiki/The_Caves_of_Steel

Maybe The Naked Sun or one of the books in that series? It’s been years since I read it but I remember there being some motif about people not interacting physically and living a long time.

https://asimov.fandom.com/wiki/Solaria

It's from "The Robots of Dawn"

I didn't read a lot of Asimov, but one thing that I noticed is that he likes repeating themes like that on several books.

It could be the main theme in one, and then just a short thing in many others; or the main theme in a few.

It's second or more likely third book in Robot series.