Go back there and try it again.
Why would you never go there again? That's silly. Who are you afraid of? The strangers you will never see again and don't\shouldn't care about or the tellers whose job description includes helping you?
It's certainly not something important enough to worry about.
As far as the driving thing, well, I'm sure the others are right that you could have turned safely in the spaces in traffic, but if you think something is going to happen if you do, there really aren't a lot of options for you. Either turn correctly, or do it your way and deal with the comments.
