I did once kind of rudely try to stay at a party when there wasn't really room for me to crash, but in my defence I was really drunk and it was a 5km walk to the train station and an hour train home. It was nothing and didn't damage a friendship or anything. People are generally chill about little missteps.

If anything, I'm generally too shy at maintaining contact with people. Most people like that others are paying attention to them.