My father depends on me for a social life

I am a 29 female and my father is 65. I have always been very close with him and the rest of my family. He has been divorced for 15 years and has never had a girlfriend since. When he was younger, he had friends to do things with, but he has since cut a lot of them out of his life due to toxic relationships, which I do understand. The past 5-8 years he has relied so much on my sister and I to include him in social events. I am married and have a great social life with many friends. I think it is worth noting I am still in my hometown with many of my high school friends so my dad feels like he is connected to them.

For example our town has a Fourth of July festival in our downtown area with live music, beer tents, vendors, etc. My dad always wants to tagalong with me and my friends and again this year he has asked to meet us and has guilt tripped me saying he feels like a loser going by himself. Am I the asshole for not wanting him there? I just want enjoy my time with my husband and my friends and not have to worry about my father always needing to be with me. He is also a heavy drinker which I do not like being around.

Another example is that my sister is a singer in a band. Whenever she is playing at a bar, he expects me to drive him and include him. A lot of the time I like to go out with my friends to these bars or grab dinner, but I always have to worry about him being in my car and making sure he gets home ok. Also every family event I need to drive him because he doesn't feel comfortable driving. I think it's an excuse for him to drink as well.

My sister has always been a bit snobby and always puts these responsibilities on me. She is also a new mom and uses that as an excuse. I really don't blame her because I'm sick of it as well, but it would be nice for her to share the burden. く TLDR: my father wants to be included in all my social events.