I believe Asimov even explored versions of this dilemma, though it has been ages since I last read them and there are so many I can't specify which stories/book

I believe Asimov even explored versions of this dilemma, though it has been ages since I last read them and there are so many I can't specify which stories/books. He did get pretty deep in several places into the reasoning of using "R." as a prefix for all robot names. One of those reasons was that it was a signal to other robots that that individual was not a "human" subject of the Three Laws. It was a part of the reason some robots worked to drop the "R." prefix in their own names. I believe (and again, memory is a fuzzy thing) there's even at least one mystery in a short story somewhere by Asimov where a human was introduced to a robot jokingly as "R. Their Name" and that turned out to be a part of how harm came to happen to that human. As others mention, to Asimov the Laws were never actually philosophically (or even ethically) sound and were always an excuse to find loopholes to drive locked room mysteries through at high speed in Asimov's barrage of short story writing days (under the auspices of John Campbell especially, who it is likely originated the Laws despite them being most associated with Asimov) and eventually build novels about their (sometimes disastrous) consequences. "How do you even tell what is a human?" is a long running theme of exploration of the laws in the stories (and among other things is thematically tied to the wild Zeroth Law which plays into later novels), and a source of many locked room mysteries and red herrings in and of itself.