Asimov really didn't include (any that I recall) blatant sex scenes or sexual themes in his books, at least directly. It was always between the lines, as a means to advance the plot.
While I'd say you are correct, there is what I consider to be his best novel that features your sex, of, well, the third kind. (seriously, if you haven't read it, do so)
But on to the topic at hand, this sounds very good. Much better than Roland Emmerich adapting The Foundation as a movie trilogy, that sounded horrible.