Drunk and idk if I had sex

I was with a friend last night and we got wasted! Like I could barely walk wasted. I know we started talking freaky and the last thing I remember is being in the backseat of his car with the seat belt on. However, another one of my friends said that at first I was in the front seat in the passenger side. Definitely don't remember that. So we got to his house cause I clearly couldn't drive. I remember him giving me a shirt and shorts to sleep in which I still had on when I woke up. I don't think we had sex cause I still had my undies on too and there was no wetness down there and I feel I would've remembered if we did. He also still had his boxers and shirt on. Are there anyways to kinda tell if I did?

He is literally like a best friend and I would hate for us to do anything sexually. It was just the drinks man 🤦🏻‍♀️

Please don't judge. I'm embarrassed enough. I know I shouldn't get that drunk but I'm dealing with a lot at the moment and I just wanted to go out and have fun. I'm usually not that irresponsible.

Also if you guys have stories like this, please comment.