Kaido explained to us ACoC is just infusing CoC with things (weapons, technique, attacks, power)
Luffy realized the same skills a user uses to control, flow, and release CoA haki can be applied to CoC. That enable him to use ACoC or infuse his fist and attacks with CoC haki.
ACoC "no touch" is just ACoC haki barrier haki. Similar to CoA haki barrier
Zoro can do "No touch" ACoC haki attack because he can release ACoC.
Zoro has ACoC.
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Another example of Zoro using No touch ACoC.
He blow King off and away from his swords with ACoC haki barrier attack.