Free ranging is a great help in getting chameleons comfortable being around people and being handled. Hand feeding is another good idea.
All of our chameleons at least tolerate being held, some more so than others. They are hand fed as well, most of them free range all the time, some that are caged get daily free range time. They are all used to seeing people and other chameleons, no one is hidden away in some quiet room.
With the chameleons we hatch we handle them from the start so it is just normal for them.