Did I fail to yield to an emergency vehicle?

Today i was driving and was gonna turn left but then i saw a speeding firetruck and i panicked because he was heading right at me through the middle. I ended up just sitting there stopped until the firetruck finally had to go around me and he seemed pissed because he raised his arm on me. I probably should have turned left sooner but i just panicked and got anxious because he was going fast and head on. Do you think this firetruck might have had a dashcam and i could get into trouble for failing to yield?

Did I fail to yield to an emergency vehicle?
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