As others have said, he may have waited for you to say "ok." But as you said, that was not consent, because you were not in a state of mind where you could consent. Consent means uncoerced, which you were not. He should have taken you where you wanted to go from the very start. He did about a million things wrong in this scenario. You did zero things wrong - you got a ride from an acquaintance. He took you somewhere you did not expect and did not want to be. You clearly told him what you wanted. He ignored you, and continued to not take you where you wanted to be. So you did what you felt like you needed to do in order to get home. There's nothing wrong with that. A part of you was saying "I need to not be here right now," and with very good reason. No part of this sounds dumb to me, or slutty.

This was not your fault.