My boyfriend has struggled with keeping stable long-term employment for a while now. I currently own two cars, one of which I recently paid off. Since he needed transportation for work and job searching, I told him he could use one of my cars for work-related purposes. Because this was meant to be more than just a one-time favor, I created a simple written agreement with expectations/accountability regarding things like insurance contributions when able, maintenance responsibility, and general use of the vehicle. He took this very personally and felt that asking him to sign anything meant I didn’t trust him or didn’t view him as my partner.  
For context, I currently work full time, attend full time school, and cover the majority of our bills/expenses, so I’ve started becoming anxious about long-term dependency and wanted clearer boundaries. I also offered rides and Uber money at different points because I genuinely wanted to help him succeed. I’ve been carrying most financial responsibilities for a while and was worried about this turning into another long-term situation where I’m supporting everything alone. He thinks asking for written expectations from a partner is cold and transactional. I feel like it was a reasonable boundary considering the situation. AIO?

Edit: I realize I left out a lot of context in my original post. This has been an ongoing issue for almost two years with unstable employment/job hopping, and a lot of my frustration comes from feeling like I’ve been carrying the majority of responsibilities financially and at home while also working nights and attending nursing school. A lot of his free time is spent gaming, food delivery spending has also been a recurring issue, and I often come home exhausted to a messy apartment after long shifts/classes. Over time, this created a lot of anxiety for me about long-term accountability and being the only stable person handling responsibilities. The agreement wasn’t because I thought he would intentionally wreck my car. It was because I felt overwhelmed and wanted clearer boundaries/expectations before taking on another major responsibility.

AIO for wanting my unemployed boyfriend to sign an agreement before using my car long-term?