The Jeremiah verse I quoted was speaking of the New Covenant with the House of Israel. God's intention always has been that his law would be written on our hearts. There are other OT scriptures about God desiring even the Sinaitic covenant to be imprinted on the people's heart. God never did want robots. Specifically Deut. chapter 11, verse 18.
Deut 11:18 Therefore you shall lay up these my words in your heart and in your soul; and you shall bind them for a sign on your hand, and they shall be for symbols between your eyes