I'd guessed as much. An incest taboo is meaningless without any kind of immediate biological family.

[Congrats Jetshard, that's relevant to your life enough now that you now have a term for it? Aliens, man.]

Honestly? If you said the phrase "amiably hate" to most humans outside of context, they'd think you out of your mind. We have a concept for finding someone endearingly aggravating, but 'hate' tends to imply a desire to seriously harm or at least entirely avoid.