OK then
at the time you missed / had to give up your spot on the ferry did you not realise you were going to run out of or be very tight on time ?
Why at this point did you not get in contact with your traffic office/ planners and ask “How am I going to get home if I run out of hours / driving time ?” In reality you should have asked this a long time ago and then you would have known your companies policy and been able to plan round it . If they will rescue you well and good , if not you can make your own plans to rescue yourself - if your silly enough to work without knowing things like this then I’m sorry nut you deserve to be left on the side of the road .Never expect someone else to sort out your problems - they won’t .
As others have said you should have stayed in the truck on the passenger seat or got into the van and refused to get out of it - your only breaking the rules if you get caught .