Nah. Kaido can clearly do barrier Haki. Maybe not Luffy's ACoA, but Hakai definitely has Haki behind it. It even spoofs the word "Haki".
There was a scene in which he hits Yamato and is not making contact.
There was a scene in which he hits Yamato and is not making contact.
Luffy has adv CoA but he isn't shooting energy beams, of course it has some haki in it, but it could just as easily be adv CoC + air slash technique (vajra arrow for Kaido).
If that's the time I'm thinking of , that was perspective, not a not touching moment.