Same.
If its a truely emergency and you can't type 'afk a moment' then getting kicked probably isn't a big deal.
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Most groups I've been in will wait until the next boss to kick if they're not back by then. The friend should have said something if they knew what was going on. When I'm tanking I wait until everyone is over the line before pulling, if not at least close enough that by the time they reach the line they wont be locked out. You didn't do anything wrong.
Going afk without saying anything is a very good way of getting kicked.
Even quickly typing a "brb" can save from getting kicked for afking.