Was I exposed to Asbestos?

I wouldn't worry too much. Usually people are affected by asbestos when they are exposed to it MULTIPLE times (like over years). Also, asbestos is still in some buildings without us even knowing it. (For example, there were still remnants in our school in Wisconsin until several years ago). I would probably wash the clothes you were wearing, and your pillowcase/sleeping bag if you think it might have gotten on them.