I am so sorry you had a panic reaction and your girlfriend is upset with you. Maybe she is not in a ggod mood when she gets woken up. Maybe you overreacted. That is something anyone can do. That does not mean anything bad about you. Let's look at what happened.

So you heard crying and a car running. That is objective. Nothing wrong with that.

What you thought is there was a kidnapping going on and you were in danger. This seems like a fear reaction where you interpreted these events as a threat without knowing if they really were.

So it may have been your reaction that freaked out your gf. And a good night's sleep will usually help her get into a good place.

Have you ever thought of talking to a therapist about such incidents?