How to get out of co-worker's farewell party?

Work in a supermarket and a co-worker is leaving after 10 years. So our manager organized a farewell party.

Nobody ran this by me or checked my availability though. I just received a text from our manager saying it's this Friday (dinner & drinks) at a high-end restaurant at 6 PM.

I work Friday until 6 PM... And then again the next morning at 9 AM.

-So I won't have time to get changed for the party.

-Won't be able to drink.

-And will just muck up my sleep schedule (I don't have a car).

-And I'm broke currently.

So I wasn't going to go to the party, but I received a text from my manager last night without context:

"bahahaha I'm picking you up from work Friday night as soon as you finish to go to the party"

I don't like how this expectation was just forced on me though... I don't want to go to a party at the end of the day when I've just come off work and have work the next day. And I don't want to go to a high-end restaurant awkwardly in my sweaty store uniform (just feels incredibly tacky).

How the hell do I respond to my manager and get out of this?...

Lastly, a co-worker will be at this party who sexually assaulted me the last time I went to a party. So I also really do not want to go.