I don’t know about ethical, but it’s definitely super rude. Sounds like your manager had an issue with micromanagement

I would just tell him that you don’t like it when he takes things out of your hand. Say it makes you uncomfortable. That should work. Also as for the apron thing he was kinda right, you can’t dry your hands on your apron. There should be multi fold paper towels or even a bar towel if you have to use that I guess, but definitely not on your apron.

Maybe approach a shift supervisor and ask what they suggest

Ummm your manager sounds like he may have a control issue. This is NOT okay. Stand up for your self and say grabbing things out of your hand makes you extremely uncomfortable. I have always stood my ground with past managers and I understand coaching but I don’t enjoy people who just need to have completely control. ( but the apron, you can’t touch your apron, if you do your suppose to wash your hands. Just like if you touch your hair or face or rub your eye. Eco would have a cow if they saw that) but other than that you got this! You will meet people thru life like this and worse. So learn how to deal with it now so next time it’s easier! I know it’s intimidating to stand up to someone above you, but remember you got this! Good luck!