And has you pull away with the man in the bed you reach down and turn on the radio, it crackles and Glenn Miller's Moonlight serenade begins playing softly. Minutes later the music is abruptly interpreted by a public service bulletin, "Breaking news, a madman has just escaped from the local insane asylum and is thought to be hiding in the woods nearby. If you see him do not approach him he is thought to be armed and dangerous leave and contact your local police immediately."
FWIW I don't pick up hickhikers. The only place I give assistance is the Parks Highway, it's a bit like the ALCAN in that there are long hundred mile stretches with absolutely nothing, not even repeaters.
Every year I stop and pull about five people on average back onto the road. The only time I ever gave a ride was several weeks ago, it was absolute whiteout conditions below zero and this couple were old enough to be my grandparents and I truly thought that if I left them there I'd be hearing about their deaths on the news the next morning. Their car had a trashed rim and a bad flat, so I gave them a ride. At the speeds I usually take the pass into Fairbanks and the nature of the grades and curves had they tried to pull anything it would have ended us all.
Did the OP do the right thing? Its not what I would have done, I would have blown past and contacted the police. On the side of the road is one thing, alone in the woods is a different thing entirely.