Do I have a right to be concerned?

This is about my daughters bio dad. So he’s kinda been in and out of her life but I’m very concerned about her going to him anymore, I’m thinking about taking him to court I just want to see other moms opinions. Every time she comes home she always does something weird and it’s Only when she’s back from her dads. Last night she grabbed my boyfriend’s private place last night (he obviously told her not to do that and talked to her about it) and now she has her ana doll and keeps opening anas legs and putting her finger up her leg and it’s really concerning. She also always plugs her ears when she comes back from his house, even when I just am talking to her so I think he’s yelling at her a lot. She never did that when she was with me she’s 3 if that helps any