FWIW, by the sounds of that guy, I think he would've asked you out no matter what.

I think you're right, and at the time it was excruciating. But as soon as I left the bus, it just became another funny anecdote about all the weird contexts in which random strange men asked me out.

That trip with your friend and her family just sounds like a mess of mismatched expectations — and very awkward to have experienced.