AITA for giving my neighbor kid a ride

I'm a mom with kids who frequently walks the block with my kids to get out. I've seen this one kid but have never talked to them. Today that kid came knocking on my door urgently. He said he needed a ride to his friends house. His parents left for work before he could ride with them and they told him to just walk. He was late and didn't think he would make it to their house. I gave him the ride and that was that.

Came home to my husband freaking out. He had many valid arguments as to why what I did was wrong. But I'm curious if what I did was A) illegal and/or B) unethical.