No, not in the slightest. The only thing that remotely suggests that is Jake saying the wrestling got a little too “tender” for his liking, and he described trying to convey it as “awkward” at worst.
The idea that the Brobot seriously hurt him in any way simply doesn’t square with Jake’s actions at all. When the monsters were what Jake had to worry about, he holed up in his room all the time despite his professed love for adventure.
After the Brobot showed up, he was annoyed by it and viewed it as an unpleasant, impossible chore–but he was perfectly willing to go out and HAVE adventures with it around, and the monsters now seem to scare him far less–a sharp contrast to pre-Brobot Jake. And though his personal skill is a factor here, the Brobot DOES have to bail him out from getting murdered by a goat monster.
Also assuming that the Brobot would do more than just be a little too romantic/gentle with Jake implies assuming that Dirk would design it to be sexually aggressive, which doesn’t line up with anything in canon. OR that the AR can manipulate it’s AI beyond just toggling its settings, which we have no evidence for.
Jake was subject to romantic and even sexual harassment–by the AR, verbally, and in a situation where Dirk wasn’t able to do anything about the situation, and in fact likely wasn’t even aware of it since the way the narrative is presented implies the AR is already screening Jake’s messages from Dirk for a good chunk of the build up to Unite Synchronize (after the initial message in the bathroom, Dirk receives no more Jake pester bubbles, despite the fact that Jake is messaging him over and over and he DOES receive them from other sources.)
But extending that to the Brobot doesn’t really square with Jake’s general attitude towards it (annoyance and a bit of romantic discomfort, or at least, discomfort with vocalizing it’s actions TO THE AR, who he already has a fraught and uncomfortable relationship with) and it definitely sure as hell doesn’t square with Dirk’s motivations at all.
If I were to guess, I’d say the Brobot is programmed to be somewhat suggestive of romantic overtures and was in part an attempt at courtship on Dirk’s end, but then the AR coming along made it damn near impossible for Dirk and Jake to communicate about romantic stuff and that made Jake see it somewhat uncomfortably because it’s yet another instance of Dirk implying interest but being really vague and unclear about it.
But that’s essentially me just writing fanfiction based on a vague suggestion in canon, as is any allegation of sexual abuse.
All we know for sure is the Brobot acts in a way that makes Jake uncomfortable enough to mention it (in the hypersexualized and fucked up context he’s already trapped in with the AR, that Dirk can’t do anything about)…
…BUT not uncomfortable enough that he’s anything less than pleased when the Brobot shows up to save him from a monster, or uncomfortable enough to undercut the fact that he fundamentally views Dirk as a figure of safety and protection. All of the discomfort with Dirk he displays through Brain Ghost Dirk comes through verbally, where it’s easy to argue the AR’s treatment of him has messed with his view of the real Dirk.
In physical space–where the Brobot resided–Jake doesn’t see Brain Ghost Dirk as anything but a protector when the chips are down. The idea that any Dirk stand-in sexually abused him physically simply doesn’t square with that reality, to me.