AITAH for kicking out my roommate?

This happened a while ago, and recently it's been brought up. I was told I could have been nicer to this friend / roommate but... Idk.

I (20sF) lived with my bf, our roommate who is a bit older, and my bfs dad while he had a shoulder surgery.

I lost my job after complications with a miscarriage due to missed work, and the company being sleazy at best. My bf and roommate were taking care of everything financially, so I made sure the house was clean and everyone had lunch and hot meals.

After my bfs dad got kicked out for keeping loaded guns on his bed and letting my cat sleep on them (long story) , roommate said he didn't want to renew the lease and that he'd be finding his own place. I went into semi-panic mode, as he only let us know a month-ish in advance and I tried to make sure everyone had a place to go. Bought an RV for myself and bf and our pets, and got a spot to put it in. Roommate said he had it covered until a couple days before moveout when he said he was just going to be homeless. Roommate also let his car get repo'd (idk why, we told him so many times we would be happy to cover more for him to keep the car) so he would be homeless without a car. I told him repeatedly that I would let him live with us but I had to know in advance so we would have the extra space set up for him. He said he was fine and would rather be homeless.

Day comes where it was time for moveout, apartment was scrubbed spotless and me and bf left. Roommate texts me the next morning begging to stay with me after spending a night sleeping under a bridge. I picked him up around 6am, brought him back, let him shower and fed him. Gave him pillows and blankets and let him sleep. Sat with him the next morning and explained that I would need him to figure out his next steps as soon as possible, but until then he could stay and pay whatever his food bills were. A week in, he's being disrespectful of my space and my bfs space (our bedroom) literally walked in on him laying in my bed taking a nap. I probably wouldn't have been as bothered if he didn't have no fucking pants on an his dick on my pillow.

I told him he had a week, find a place or move, and that if he would have asked me in advance we would have made the proper arrangements for him to stay, but the disrespect of not only sleeping in my bed but rubbing his dick on my pillow was too much. Especially since he was living free at the time and told me he couldn't afford to get himself food. He got his check and moved into a cheap hotel.

He decided to cut off our friendship because of me being a hardass.

Unfortunately, it came up between a discussion with me and my bf and he said I was an asshole for kicking him out.

Tbh it wasn't even the first time he was disrespectful, he literally asked to watch us have sex before, so I don't feel like I'm TA here, but I'd love to hear your thoughts reddit.