Misheard the google maps instructions and ended up on a motorway by mistake, was this the correct / safest thing to do?

Soo for some reason google maps (yes I had avoid motorways on) spoken instructions things said to take my next exit WAY to early I think, and I misheard it as to exit now, and didn’t realise till I got onto the motorway, I panicked and questioned if I should go onto the hard shoulder and swap over, but deemed the safest thing to do was to just keep going and take the next exit. Being used to the A2, the driving was fine, but I didn’t realise it came out onto its own lane, but I did realise the slip road was gone and pulled back into lane one shortly after.

Could I have handled this situation any better? I guess the moral of the story was to not just rely on the map, but also USE the road signs, but my mum also didn’t notice it until we got onto the slip road, so I guess I couldn’t have been too ignorant.

I think I did the correct thing for this situation, but really I shouldn’t have done it in the first place, but does anyone else have any thoughts on this?