Kilo has several dens from which he alternates is stay Garden Zone 01 and 02 so far. Maybe it's a little paranoia having been like a "fugitive" back in his homeworld, but at least at Sacrosant he can return to old dens if he feels like it. His dens tend to be near water as he likes fish. He'll also bum around in Kurzweil parks if he was bold enough to explore the city and doesn't feel the need to travel back to the garden zones.

As for people he wouldn't crush if they touched him, Kilo wouldn't mind Sakura or Euphie petting or hugging him since their general demeanor was similar to a girl he took care of in his homeworld. He'd probably chill around Shadow and Toothless too. Any non-soldier character are probably on his I-will-tolerate-in-close-proximity list, lol.