Free ranging and hand feeding is the best thing you can do.
Nearly all of our chameleons are handleable, hand feed, comfortable around people and mostly get a long with each other. We have 22 chameleons - all hand feed. All are easy to handle but two of them. They usually kind of tolerate it but it is obviously not what they want. The rest do not mind.
I've gotten them to this point by ignoring a lot of the advice to put them in a cage away from noise and movement as well as the advice to leave them be for days or weeks to "settle in"
Ours are interacted with from the time they come home - usually they are held on the car ride home and photographed with my cell phone while my hubby drives. They are then placed on a hanging free-range environment in my living room where they can see us and other chameleons. I start offering food by hand the first day. Once they adjust and I am certain they are healthy they will usually get a cage to live in but all get daily free range time and see and hang out with each other - males and females are kept separated for obvious reasons. Our melleri do not like the others (veileds, panthers) coming into their territory but the others are used to each other.
When we hatch babies they are also interacted with from the get go.
When we bring home a rescue that is ill or has not been cared for properly we do keep them comepletely separated for longer to not stress them or spread anything.
Ours will often come to where ever we are and see if we've got any bugs for them. They will climb right onto us and expect a ride to some other part of the house ...