Can strangers make sure drunk girls get home safely without appearing to have sexual intentions?

on the weekend, at a bar/club i saw someone i know from university, not real well only casual buddies, and she was so drunk she couldnt talk lol she came up to me and i told her,
‘you probably need to go home, want me to get you a taxi?’
she responded that she wanted to go home and so we left the place and went to the taxi rank together. i waited in line with her and she got in a taxi and i got into my own one, as i was pretty drunk and ready to go home myself.

i havent seen her since and i dont really wanna approach her about it as she may feel embarrassed.

overheard her buddies at uni today laughin about how drunk she got. pissed me off, as i reckon it shoulda been their role to look after their friend.

should i be concerned that people may take this the wrong way? as in myself appearing like a random preying on the drunk chics

keep in mind that i was drunk and that i dont remember exactly what happened.