I keep in mind that your daughter may have been "educated" into being ashamed of her sexuality, and therefore she may have reported the incident as being unwelcome even if it was not at the time. Or, this man may have been too dense to understand that she was not interested. That is the only reason why I would even entertain the thought that a relationship with this man may be possible.

Because otherwise, if this man willfully and knowingly imposed himself on your daughter, you should stay away from him.

That said, the one thing I would add is this: especially if your daughter is the type of person who likes to please others, she may not want to criticize a man whom you obviously have feelings for - so if she quietly accepts that he should come back, that is not enough. Unless she is enthusiastic about bringing him back into your lives, you should keep your distance from him.