Ja, that. Fairly certain he canonized that somwhere. Sure, he explained it wouldn't be the same kind such as us would be used to, but it would be a close enough equivalent for a mostly robotic species, and it made sense that they wouldn't really have any way to identify said feelings (much less fully recognize them) until they met a species that actually had the compulsions needed to do so, and had done so.
Especially when they were both mainly focused on staying alive/safe, and doing their assigned work/tasks to keep the GSR going.
Along with that the reasoning's he later gave behind saying it wasn't canon were fair points, though he could have extrapolated on these points when he'd first been asked the question it would've prevented a lot of the future hassle the debates from it caused. (Though it did generate some good meme art/Mocs.)
I will say that Greg, in my opinion, has been rather good for the community. Yes he has his... faults, and areas of lack, but beyond that what he's doing more than makes up for
The fact he's remained as dedicated as he has, from telling us of the future plans he knew of, to actually taking the time to answer our questions, further canonize lore, and even listen to our reasoning behind these requests/questions of potentially confirmed canon, for, what's really something he could drop at any time and suffer no repercussions from, is amazing in itself.