I felt bad about it, but didn't want to do an unplanned overnight without my toothbrush, change of clothes, etc. I tried to be graceful but felt like it was an awkward situation. What should I have said to make it less awkward?

"Stop making a sulky baby face, you giant toddler, and book my taxi now. Or do you have ?1000 on you right now to pay me for an overnight? You think I want to stay here, unplanned, sucking dick for 12 hours and not getting any sleep? No? Good."

Er, or that might've made it more awkward. Honestly, though, why is he being difficult with you? Is he a giant child? Can he not possibly understand that you might actually not be madly in love with him but might perhaps want to go home after your job is finished? Is that somehow complicated? Can I even get any more sarcastic? I dunno. I have no patience for childish men, not once the booking is over and my fee is no longer being paid. Why should we? It's not a woman's job to pander to men, though it might well be an escort's. But when the time's up, the escort has to leave!

Never feel bad. Simply collect your fee, do your job and leave.

Next time you do an outcall make sure you have the number of a taxi firm on your phone. Never rely on a client to arrange your transport. Pop to the loo ring a taxi and when you come back out say that your taxi will be here in 5mins. You are sorry but you have other commitments and as you have already gone over time you need to get a move on.
If he gets arsey or pouty and sulky then say, well if you pay me for the extra time already had, I will be willing to stay overnight next time. He will be more than eager to get you out the door then. In all likely hood you will not be seeing him again as he didnt get his own way so it makes no difference what you say.

Thats the problem with going over time, you give a little then the sods want all bloody night.

Yeah I agree with Danielle. It would be better to ensure that you have transportation worked out already.

What should you have said? Well...exactly what you are telling us. I didnt see in your post anything about you telling him these things. Had you told him, maybe he'd been more understanding?

Here here! If a client wants to throw his toys out of his pram because I dont wish to spend another unpaid 7hours so be it. Would they work unpaid just because im nice?! No!