Not to wade into this contentious debate, but Rambam Hilchos Isurei Biah 21:6 and Shulchan Aruch E.H. 21:7 [and O.C. 73:4] (as cited by Igros Moshe Y.D. 2:137) says for a brother to touch a sister over age 11, or for a sister to touch a brother over age 12 is a “most deplorable, a prohibited (type of) action, and an act of foolishness”.
As far as a daughter is concerned, Igros Moshe E.H. 1:60 and E.H. 4:63 maintains that it is proper to be stringent and not kiss a married daughter or granddaughter. (That is kissing, not just touching.) Other poskim, however, do not mention this stringency and this seems to be the prevailing custom.
All of the above, is even in private. If done in public, there are additional issues.