I echo what basically everyone else is telling you. Except for that lunatic that wants you to make her stand beside the car and in front of a wall for hours. That's insane, obviously.

I wouldnt even bat an eyelash or feel bad. In fact, I would probably raise the issue again. "Mommy yelled pretty loud in the car, huh? When I tell you to be quiet, put a sock in it. Capice? Good talk!"

OP, it's really fine. She was scared, as she should have been. You communicated the gravity of the situation. I'm not saying you should yell at her but you were in survival mode. You got home safely. How is she now? Probably fine? If so, good job. Carry on.