Somewhere there is an article about an interview that someone did with Ivanka touring the home she grew up in. The interviewer makes it plain that she becomes emotionally distraught when she starts talking about her bedroom. I'll see if I can dig it up, but I don't remember enough details to make it easily googlable.

In the end, I don't know. I kind of think so, but to be fair they may just have had an oddly intimate father/daughter relationship. It can be creepy and unhealthy without crossing that boundary. Not saying he didn't, just saying that although it might seem like it, that doesn't make it so, either.

Edit: Although I have a strong recollection of reading such an article, a few minutes of googling is not turning it up...