I hope I've understood this right:
You and your (then) eight-year-old daughter flew from the UK to NZ via Japan for Christmas. You don't state when this happened, but must have been at least eight months ago
You were staying with your father, stepmother and (presumably) half brothers.
You relationship with your father and stepmother was already - for want of a better term - tricky.
The flight, especially the second half, was tiring and long and not especially enjoyable.
When you arrived at the airport you expected to be met by your father/step mother. However, they were somewhat late arriving and so you had to wait at an airport McDonald's. They arrived late because - according to your father - your stepmother was doing her hair. They also brought their teen sons with them, marking the 40 min journey from the airport uncomfortable.
Elements of the trip weren't enjoyable and you didn't feel that you were looked after especially well. It hurt you.
Now, the trip has been mentioned by your father/step mother and you feel they hace unfairly criticised your daughter.
You feel aggrieved at this, about the trip as a whole - especially them arriving late to the airport and bringing their teens the behaviour of your father/stepmother.
Is that just about the jist?
My view is that the journey from the UK to Auckland is an awful one. I've done it multiple times and it's always hellish. It was a little thoughtless of your father & co. to be late collecting you but in the grand scheme of things it's just that: a bit thoughtless. You were always going to get off that plane feeling like shit and their thoughtlessness compounded that. I get it.
However, you're being very, very, unreasonable to complain about this all this time later. That's not to say your stepmother isn't also being unreasonable in her recent complaint. But for you to complain now is incredibly petty.
But I don't think the late collection is the issue here.
What this sounds like to me is that you're angry/upset/frustrated with your father in general and how he's failed to maintain a relationship with you or establish much of one (any?) with your daughter.
You saw the trip as an olive branch of sorts and it didn't go how you had hoped it would for a variety of reasons and it really hurt you.
That's entirely understandable.
And now your stepmother has mentioned the trip and criticised your daughter and that's hurt intensely and you feel it's unfair... Because she was a little girl, she didn't misbehave, and you feel that her grandad and step grandmother weren't exactly welcoming.
The issue here is the relationship with your father, or lack of it, and all the shit that needs to be unpacked with how you see him, how you feel he treated you years ago, in your childhood, on this trip and now.
If you want a relationship with your father - or for your daughter to have one - I'd recommend you explore mediation and therapy.
This will help you make sense of your feelings now and address the issues you have with your dad in a way that seeks to reconcile, repair and move forward rather than reopening old wounds for the sake of it.
At the end of it, you may decide you want to go no contact or low contact. But working through what appears to be a lot of emotional trauma via therapy will help you to be happier and will help you break any cycle of trauma with your own daughter.
So YABVU to complain about being collected late.
YANBU to feel hurt by your overall experience on the trip and what's happened more recently.