Necessity can realistically only be a matter of judgement since it is impossible to define every possible circumstance.
I have to wonder what the bluebottles would consider a reasonable excuse. Does it have to be life or death?
You could probably even make a case for that if you worked on it - your journey was clearly not wilful premeditated flouting but a reasonable instinctive response to a direct request from your daughter to help get her to work, presumably to be of more use against COVID than them giving you a ticket or you staying at home and delaying her.
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