I think you will be fine. Tires these days are MUCH better at avoiding flatspots than years ago.
Setting the tire pressure up a little as you did was sensible.
We've had 2 cars with 6 months in the garage untouched and after running a mile or two
(and ensuring tire pressure sensible when parking) all was just fine. Toyota 4Runner and a Lotus.
Tires are generally much better now than many years ago.
Tires are good enough that they look ok even at 5+ years old. If yours are 5+ years old replace them!
Terrible things can happen on the road with apparently-perfect old tires.