Emotions are controlled by chemicals and parts of the brain that are not present in a chameleon. They do not experience fear or anxiety under the context your labeling them no. Every action, including the ones you mentioned before, like reaching into their cage are, in fact, instinctual. They arent angry at you, or mad at you. You are entering their space of protection, their natural instinct is to get puffed up and fight or hiss. They stop doing this when they "trust" you. But they dont trust in the sense that we trust. They see you as a non threat, you are no longer a danger that is going to trigger their fight or flight response. Until you do something that reverts their brains, like a vet visit, dropping them, or not feeding. Can you label these as fear or anger? Absolutely, but you have to understand the difference.
As an example epinephrine (C9H13NO3) also known as adrenaline, is a chemical that is given off when becoming angry. It allows the amygdala to send signals to the frontal lobe of your brain that then allows your neurotransmitters to speed up your heart rate, which then allows your body to show other signs that you are becoming angry. (Lazer focus, heavy breathing, foggy vison, red cheeks etc.)
None of this is present, physically, in a chameleon. So again no, from a purely scientific stand point chameleons do not feel emotion, since this example can be used for every emotion.