Went 5 hours between feeds by accident

19 year old mom, I put my 6 week old down for a nap today, grateful as he had been awake and having a screaming fit for a while. I decided to take a nap too. He is a bit of a cluster feeder, will go anywhere from 30 mins to 2 and a half hrs between feeds, but rarely more than that, even during the night. I thought about setting an alarm, but figured he would just wake me when he was hungry as he usually does (if I do set an alarm, he's usually up before it even goes off). When I finally woke up, I realized how long it had been, and he was still sleeping. I woke him and immediately fed him. I know he'll be okay physically, but I am freaking out and having insanely intense mom guilt, feeling like I neglected and failed him and am an awful, irresponsible person who shouldn't be a parent. Ugh. Has anyone else ever done this?

Edit: Thank you everyone so much for your kind and reassuring comments, it's definitely helping me feel more calm. Just to clarify, he has surpassed his birth weight by quite a few pounds, steady weight gain, lots of wet diapers every day (including several after this incident.)