No. Like this ideology of putting yourself first is a bit stupid. you can't come up with univeral rules (at least ones that can be expressed in a small picture) for human interaction.
If you feel anxious but your family member needs a lift out of a sketchy party then yeah, you're a dick and should feel guilty for that. If you would have debilitating panic attacks while driving maybe not, but you're also shit if you don't call a taxi or something. We have obligations to each other. "we live in a society"
If they put themselves in that situation you have no obligation to help them. Not saying it isn't a good thing to do, but the idea it's an obligation to save someone from the consequences of their own decisions is whack. You're only obligation here is to make sure you don't create situations that are dangerous. If everyone followed that rule there wouldn't be a problem in the first place.
What if my mistakes directly lead to someone else getting hurt?
Cfr I clipped a motorcycle with my car a few years ago. Guy broke his leg and totaled the bike and my car. You better believe I'll feel guilty for that one until the day I die.
I guess my mistake was simply not being attentive enough to the road. I wasn't speeding, I wasn't under the influence (it happened as I was trying to pull in to my work's driveway), I wasn't sleepy or tired. I simply somehow did not see the motorcycle coming towards me.
There was no malice involved, nor negligence, but it's still my responsibility to pay attention to all hazards on the road and act accordingly.
I'm feeling pretty shitty right now exactly because I'm putting myself first for the first time in 3 months. It sucks man, but being constantly drained and dead inside sucks too.