There is lot in your letter, so I will focus on what I think is the most important message for you to understand. Some people don't have much "veil" between this realm and the other dimensions of this multidimensional Universe. Some are born that way; some develop the skill through study; others have experiences such as Near Death Experience or other traumatic situation that opens the door for them.
For you, you've been born this way, and then it's expanded even further. As you reach to contact your birth father, the departed ancestors on that side to the family, his and your family, are able to make contact, to reach beyond the veil, to alert you that they would like you to continue this process of healing.
I would say: they are not really "touching" you in the way we do in human realm. Spirits can move energy to make things move, or to make the air feel different on your skin, and so forth. They are just trying to get your attention.
I would suggest you do some direct work with the spirit community, with my course Heal Your Family Karma. This will help you get to the root of some of the karmic issues, it will help move things toward more healing, and it will help these active spirits relax.
There is no danger here: it is all about love, on both this side of the veil on and on the Departed side; about wanting connection to be expanded and healed between birth daughter and father.