The fact that he insisted indicates that there were other offers/options. The fact that in addition to insisting on that in addition to insisting that OP stay awake seems to indicate a bit of controlling behavior, IMO.
But what does "insisted" mean exactly? My DH often "insists" on driving, because he's not comfortable being a passenger. He's not controlling, it's just that he prefers to drive. No one usually protests too much and if they do, then he'll usually concede.
My guess is that he volunteered to drive, maybe some other options were mentioned and he noted that driving would be no problem for him and made a case for himself. I doubt he forced everyone in his car or threw a tantrum to get to be the driver. He probably said he wanted to drive and no one objected too strongly.
He may very well be controlling, but wanting to drive, by itself, is not a clear indication of that.
If he was the one that jostled kingsrings awake, then I'm assuming she must have been in the front passenger seat where he could easily reach her. I think he was rude to wake her up, but perhaps that seat was not the best place for the OP to sit after a day of hiking, especially if she was tired enough that she thought she's want to nap.
I don't think it's unreasonable for a driver to want passengers to stay awake, but I do think there are times when it is acceptable. I admit, I'm still on the fence about this one....