Chameleons don't like to be hugged. They don't like human interaction and they love being in their own space. Can you hold a chameleon? It's possible to hold a chameleon, but chameleons don't like to be carried and they don't like to be stroked either. Some may develop tolerance for waiting, but they are much better suited to being left alone and watching from afar.
No chameleon likes to be handled by people. Whoever told you that was throwing you a misleading sales pitch to convince you to buy them a pet. Chameleons should only be considered pets on par with tropical fish, ideal for the eye, but they are not meant to be touched or carried. Chameleons can hold on, but they generally don't like it.
Chameleons are sensitive reptiles that experience a significant amount of stress when mishandled. Because of your pet chameleon's talent for blending in with the stage, the last thing you'll want to do is drop it when you try to pick it up. A loose chameleon can quickly turn into a lost chameleon. Properly handling your pet is the best way to avoid accidentally releasing it.
Practicing proper handling every time you interact with your chameleon is a good way to make sure your lizard stays sociable and healthy. My chameleon seemed to enjoy his daily handling until recently when I approached and tried to get him out of his enclosure. However, this often happens, can cause your chameleon to suffer long-term stress and eventually lead to illness and, possibly, death. There's no scientific reason why you shouldn't hold a chameleon, but doing so often and excessively can create stress between them and their owner.
If you want to hold your chameleon, it's important to do so in moderation to keep your friend happy and healthy. But do chameleons bond with their owners? My answer would be no, but then I saw some chameleons come out to greet their owners and hang out on their shoulders while playing video games. Chameleons don't get aggressive when holding them, as they are generally calm, however, they don't like it. Most of them won't like it and stress is one of the leading causes of illness and death in captive chameleons.
Of all types of reptiles, you can stay as a pet. I would say that the chameleon is the most obvious one to let you know that it's uncomfortable to be around them. Chameleons make excellent pets because of their colorful bodies and interesting personalities, but they usually don't like to be handled. They will appreciate you for it in their own way and if you can get satisfaction with that level of bonding, then a chameleon is a good pet choice for you.
Any of these three would make a good chameleon for beginners, though the Panther is still the best overall. Although it is more prone to disease than the panther, Jackson's chameleon is better managed than the panther. When working with your chameleon, take the time to train and tame it to get used to you.