Unfortunately, I don't know what "touching his dad inappropriately" means, so its kind of hard to answer. What he did at 4 or even 5 really doesn't have much to do with what he does now. Little boys can be very touchy/feeling. It sounds like he has a great relationship with his dad. Perhaps what he and dad can do is to get the book, "I Said No! A Kid-to-kid Guide to Keeping Private Parts Private". It is something that they can read together. It will help him protect himself in case it is ever needed and also give a good vocabulary that can be used to explain things to him. You can get more info about the book (and others like it) here -
https://www.amazon.com/Said-Guide-Keeping-Private-Parts/dp/1878076493/ref=pd_sim_14_1?_encoding=UTF8&pd_rd_i=1878076493&pd_rd_r=8AGSTZKF37BZYTR8P77C&pd_rd_w=UHy16&pd_rd_wg=wNg1d&psc=1&refRID=8AGSTZKF37BZYTR8P77C
Hope this helps.