Roughly, OP got together a couple of trained folks and went out looking where they thought the kid might be camping. Managed to find them, convince them they were there to help, and get them back out safely (kid had sustained some injuries). Kid is with aunt, CPS are contacted, parents are mad about it.

I still reckon you did nothing wrong here. That kid ran off because of the parents, not you. They are just trying to blame someone else for their own FU.

TIL David Eddings was a giant piece of shit. Who knew.