Try not to obsess too much about it. What's done is done and we've all had too much to drink at times. My memory goes too. I'd send him a quick note and say something like 'sorry about last night but thanks for bringing me home. Hope you were able to get on and enjoy your night'. Just to clear the air. You'll worry less as time goes on about it.
It's nice he came to get you. He may have been irritated, but he's the one that made the choice to come get you. Don't feel bad because he didn't have to do that.
