It seems like most of the complaints were about Dan unnecessarily getting too close or allowing his hands to linger (for lack of a better term) while everyone is sleeping in the shelter. The "too close" thing is obviously very subjective and MAYBE a bit overblown. As we've seen for 20 years, these people basically sleep on top of each other for warmth and due to a lack of space. Its a VERY gray area and its obviously impossible to determine whether he crossed the line based on the limited footage that we get to see. The hands thing is more clear cut. I dont see any reason why you should be leaving your hands on someone's leg/hip/stomach/wherever if its not crystal clear that they want you to do so. To me, its pretty clear that Dan was inappropriate here and it to me, it seems intentional.
It seemed like Missy's one specific complaint was Dan sort of playing with her feet during the merge feast. It didn't seem like she was bothered by it (to the extent that Kellee was bothered) but more just weirded out. While this maybe isn't as overtly sexual as the hands in the shelter thing, there's really no way to explain this from Dan's point of view. If you're playing with a relative stranger's dirty disgusting Survivor feet after you've known them for like 2 weeks (and dont have some sort of mutual physical/romantic relationship clearly defined) you're doing it for your own enjoyment. And obviously that's not ok, even if the person you're touching doesn't make a big stink out of it.
Then there was the whole rustling Kelley's hair incident. Again, you shouldn't touch anyone who doesn't want to be touched. But in a vacuum, this seemed like a massive overreaction on Kellee's part. Of course, it didn't occur in a vacuum. Kellee was already upset with Dan's other touching, so ANY touching was upsetting her at that point. Its her right to feel that way, and I guess i can see how the specific act could be seen as a passive-aggressive show of dominance towards her.
At the end of the day, you dont touch anyone who doesn't want to be touch. Sometimes its hard to know that unless they say something, but anyone with a brain in their head in 2019 stays on the "dont touch" side of things these days....especially if you're an older man touching women and CERTAINLY if its all being recorded and played on national TV. Because of this, I'm less inclined to dismiss this as Dan being an innocent "old school guy" who is "very physical" and more inclined to believe that he's at least sometimes inappropriate in real life and doesn't know how to turn it off.