This answer brings sources that suggest that the Idol of Micha was present in the tribe of Dan even in the desert. This is also implied by Targum Pseudo Jonathan when Amalek attacks in Exodus, (second to last paragraph), and mentioned by Rashi in Sanhedrin 103b.
Given the drastic action taken in response to the Golden Calf, or against the blasphemer, why was the Danites idol worship, or at least idol posession, abided by God and the rest of the tribes? Sources in the answer I've cited attributes the name of the Naftalite prince the objection against Dan's actions, so it seemingly was a known transgression.