You were both too drunk. You behaved exactly right.

Are you saying you would rather have lost that friendship with Sue to have had sex with her because your other male friend now thinks you're an idiot for missing an opportunity for sex one night out of all the nights of your life?

You would trade what you have now with Sue that is still there to build upon respectfully, consensually, and honorably?

You'd rather have been taken advantage of yourself? Raped?

If your answer there is yes, then you're telling us in no uncertain terms that Sue doesn't mean very much to you. She's disposable. Sex is what's important, she's just a good toilet seat for it you failed to use.

Look. I get that it's super hard for you. You're disabled, so you've got extra challenges in life that just make everything more frustrating.

If that's what you think, though, it's good that you don't approach women. It's that pattern of thinking that makes all the "decent but lonely men who get ignored by women" and "not chosen" over a guy the first guy feels is less deserving that earns you the scorn and contempt of women online when y'all rail on and on about how women have no compassion or empathy for lonely men.

You're sad you didn't (possibly mutually) sexually abuse/exploit someone because your male drinking buddy made you feel shamed about it. That's his shame, not yours. Why are you holding it for him?

Let me ask you this. Does Sue know you regret not messing around with her when she was too drunk to bennaking sound consensual decisions? If she did, do you think she'd be uneasy around you now?