I actually had a very similar experience a few years back on my bike. I was riding in a residential area (speed limit 30mph) when I noticed a man in a car waiting to go across. He looked right at me, then promptly pulled right out in front of me.
I remember slamming on both brakes and damn near dumping the bike. I missed his left front fender by about two feet.
And what does he do? He looks at me like ‘where did YOU come from??’
Inattentive drivers are a biker’s worst enemy.
Oh man, you are really lucky. God bless.