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Well that does address one of the plot holes.
At this stage, Anna would be interested in picking Robinsons brain about David and would be friendly with him. So, there is no surface problem with Rob/Anna on that point.
The plot problem is Anna is now aware of Robinson and his sneaky hands and massage skills. I figured it would be a long haul of how to get Anna comfortable to get passed the incident. If Mr. Palmer just brought back the massages as if nothing happened last time, the story would lose creditability to a point. Now... if Anna made a point of it to Robinson, no playing with the girls. Maybe that would kind of work.
Still, there remains the obstacle of David living in the house so alone time for Anna will be a premium to have company (It doesn't seem likely Anna's mom is going to do extra duty on the babysitting front.) So, it's still logistical problem getting together with anyone in the house with David coming home relatively early doesn't allow for much play time... maybe a half hour or so.
It would be easier if David flips a Cheeto and gets angry with Anna and move in with his father.