Regardless of how true or not the scenario is -
I would have blocked the inconsiderate guest in with my car, to make them knock on the door and ask me to move my car.
I would then politely inform them that my drive is not a car park for random strangers, and I would move my car, and that would be the end of it.
Given the ease with which serious wars of attrition can be started between neighbours, I would not mention it to my neighbour unless they brought it up, and then i would explain what I had done, and why, and expect that to be the end of the matter.