Yes, I believe that you did the right thing. If you did nothing, and a tragedy happened as a results of your father taking ill on the road, think how you would feel about that. You have prevented a potential tragedy. But this has not been recognised and now you are suffering a huge emotional upset as a result.
Try to ride out this storm, as best you can, and if at the end of it there are still those in your family who will not speak to you, then you must adjust your life to accommodate this.
It can be done. I know this for sure, because my sister does not speak to me, neither does my husband. I deliberately try to remember to look upon that as their loss.
Best wishes with repairing what you can of your family relationships. However, if some or many of them cannot be repaired, you should never, never regret what you did - because what you did was what needed to be done. Good for you.