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"