Please tell your sponsor about what you did, and I'm sure he or she will tell you to call and wake them instead of getting in the car.
This program is about helping others. I think the reason your sponsor is willing to help you is for those 1 a.m. calls.
And it's no surprise the urge went away after being frisked but the cops. But remember that the urge subsided after talking to others in the program and came back when you decided it was to late to reach out and call again. Call. I don't think you go to jail for that unless you call randomly and breath heavily.