Not noticing the warning is understandable… I look for my phone when I’m holding it. But 7 miles? That’s a bit much!
My Sorento let me drive 3 hours without the key. The warning only came on when I opened the door at the destination.
It’s bad you didn’t get a warning. A lot of cars let you drive without the key, though. Fords have been locking the shifter for years. If the key isn’t detected, you can’t shift out of park. Once the car is in drive, though, it keeps going until you stop it.