I'd be fine leaving a 7yo in the car (in fact, I've done it), but only if we discussed it ahead of time and he knew it would happen if he fell asleep. I wouldn't want him to wake up while I'm gone and panic because he's alone and doesn't know why. If he surprised me by falling asleep, I wouldn't randomly leave him in the car without warning.
Oh, and I'd turn the car off and leave several windows open. He'll be fine for 5-10 minutes, and can open a car door if he needs to. If pickup takes ridiculously long for some reason (have to wait for younger kid to finish a snack or something), I can always go back out for him.
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