That's how I interpreted it first time I read it, but I'm rereading now since it's been a while and noticed they "took a break" and then he turned off comms so they couldn't contact him...
He's living his life freely so if he wanted to grope her, he would and definitely did
While manga tends to leave out juicy details (like how the fact, that MC indeed uses the "sexual intercourse function" of his maid, was only stated in chapter 19.1), i still think here you are reading too much into it.
MC did consider "ordering" Nias before that, but i've no idea how he planned to do that, since she isn't technically his subject. Break could be just a break, and the comms could've been off the whole time. Besides, groping matter was never brought up in future chapters.
But, even if by some chance it did happen, i was talking about what happened before "taking a break". Well, i guess, in the end, it's up to our imagination, whether he did or didn't grope her at that moment.