Did you try to have sex with him? Force yourself on him? Do any crappy behaviour? No

You took care of a drunk friend , and you ended up cuddling together , if you both are very adamantly against being touchy with people and this is someone you both don’t feel that barrier with maybe you should put some consideration into that when going to talk about it over lunch

Overall I’d say your fine , maybe you both subconsciously have feelings for each other but are both too oblivious or unable to understand those feelings