I think you both have valid reasons to feel the way you do after this situation. The best thing you can do is talk to her about it so you both understand each other's point of views. From your comments, you continually say why you didn't want to walk to her, but you haven't said why she wanted you to. To me, that says you haven't dug deeper into the conversation. Until you know her reasons, it's not fair for you to automatically judge her and think your choices are more valid.

Finally, I know you said it's a safe are and she feels safe, but I think safety is a fluctuating feeling. In the dark and a storm...I wouldn't feel safe. As a woman, I view that as a predator's paradise.