Did she have you well-trained for a number of years? Then she is only doing what she learned worked in the past.
But you are better today, you are more self-aware, and you have some boundaries you did not have before.
All you did was give her a ride. You did not move in with her, you did not give her a wad of cash, you did not bail her out of jail, you did not father a child with her.
It was a minor lapse on your part and you learned even more useful things about her which will help you stay in reality about your powerlessness over her addiction.
I suggest you take the day tomorrow to put yourself in the most peaceful, natural place possible, pack a lunch, take some good music, maybe rent a kayak somewhere, whatever you can do to wash away this experience of chaos.
And no, you do not have to repeat this experience.
She is behaving exactly like a sick alcoholic. No surprises there.
But you, in posting here and examining your behaviors, are behaving like a RECOVERING codependent.
Hands off the addict and have a peaceful Sunday.