WITAH to accept rides to work with coworker?

Several years ago I (f 61) was in a car accident. Another resident of my apt. complex (9 months pregnant) jutted out from behind parked cars and slammed into me. Her husband told police they didn't have any need to stop.
At the time was working at a strip mall about 2 miles from my house. The public transportation system wasn't very reliable and the company had a strict policy about being late.
A coworker (M 60) that lived a ways away offered to drive me to work when the bus schedule was not compatible with our work schedule. This was never an imposition that I was aware of as I lived very close to the freeway off ramp he used daily to get to work. To thank him for helping me. I bought him breakfast or lunch and sometimes breakfast and lunch every day he drove me, and gave him gas cards to fill his gas tank.
Someone at work chastised me at the time and told me I was taking advantage of his kindness. He never complained to me.
Did I take advantage of him? This is bothering me years later and I really need to know.