Help I'm worried!

So in May I was at a store and I'm pretty sure my (now ex) friend stole something bc the alarm went off when we walked out, we go stopped and I started walking to the clerk to see what the problem was, but he kept walking and just said to come back. I know I should've just addressed the clerk since I know I did nothing wrong, but I just listened to him. I am worried because we were driving in my car... I don't want to get in trouble for something I did not do. Can I get in trouble for driving with him in my vehicle?? I have completely stopped speaking to them, for other reasons as well. I know it was so long ago but I'm nervous bc I'm a very good girl! Never even cheated on a test! And my dad is a police officer so I have great respect for the law.