It was the example given in the OP.
You specifically mentioned "Howard Foundation".
OP didn't use that specific combination of words, and I didn't realize you were talking about the same thing.
To be clear, I think even voluntary and incentivized (by whatever currency or goods or power the incentivizing entity uses) eugenics is questionable at best.
We humans have far too long a history of disliking, othering, and pushing people down based on genetic traits...perceived or real. So even if it's voluntary, I can't see myself thinking it's good.
I would probably accept it because it's voluntary, however. I'd just dislike it.
Edit: I'm reminded of two different science fiction series/universe that genetics (and eugenics, I think?) play a role in, to some degree...by the same author, actually.
Harrington, the heroine of the eponymous Honorverse, is an officer in the Royal Manticoran Navy (RMN), the space navy of the Star Kingdom of Manticore....
www.goodreads.com
tl;dr - as humanity expanded in this universe, various factions went off to settle planets, and some used handwave future tech genetic manipulation to modify their populations to better survive the conditions on said planets. Also some natural adjustment due to selection while living on such planets, with different gravity or toxins, etc.
And then there was the whole thing with genetically engineered armies wrecking earth and various ****ery of the like, not to mention a current in-universe time faction that genetically designs people for specific purposes as slaves. Because humans, so of course there's a market for that.
Mutineers' Moon (Dahak, #1), The Armageddon Inheritance (Dahak, #2), Heirs of Empire (Dahak, #3), Восход луны (Dahak, #1-2), and Empire From the Ashes (...
www.goodreads.com
It's been longer since I read this, but if memory serves, the ancient stellar empire that the author had as the origin of humans had all intermingled to the point that most had similar skin color and the like, but for whatever reason that I can't recall they factionalized and diversified genetically after a ship's crew was stranded on earth by some complex ****ery that is key to the plot. This series started before the one above, so I suspect the author dug into the topic more as that much longer running series continued.