I get this, I really do! My daughter is a bit older, 14 and change, and she's our only, so we don't have the siblings in the mix, but I know where you're coming from.
First, I agree with both Missy and Fanged Bunny below: A family calendar plus discussing weekend plans well in advance are both great ideas. At 13, kids very strongly want to feel some control over their own time, yet they have no way to drive themselves anywhere and have to wait on adults or siblings' plans. Plus, at 13, certainly with girls, their friends start to mean the world to them in a way that's deeper than elementary school best buddies, so they can balk when adults don't see that it's ever so vital to see Friend this very instant. It's normal and part of separating from you --but they want to separate when they can't actually schedule themselves or transport themselves. It's frustrating for them, too.
So do whatever you can to make her feel that, if she acting responsibly and thinking ahead, she will get more input and more choice. That does not mean, and should never mean, that you cave to every demand for a ride somewhere at the last minute, or rearrange your life, but it can mean that you talk to her -- and yes, to her friends' parents -- early and often.
I add "her friends' parents" because I've found that, as much as some folks say "Let teens do all their own social planning, don't be a social secretary," I find that younger teens actually often don't know what their own schedules are fully, and certainly don't know (or care much) about sibling schedules that could affect their own plans. It's really not helicoptering, in my book, to shoot parents a quick e-mail or text along the lines of "Sally said she and your Jenny want to get together this weekend but Sally doesn't know Jenny's schedule. What would work? We can't do Sunday or Saturday before noon." Or have Sally and Jenny talk to the respective parents and arrange it but ensure that all the parents know what's up. It sounds like the latter is what was happening last night, but the notice was too short, it was the end of the week, you had one tired younger sibling, husband was out....Just a bad time all around for this sudden request, truly. She said that she herself doesn't always have notice, but she and you need to discuss how last-second requests don't work (and when they do work, such as when husband and sons are all at home for the evening and there's no reason not to take her somewhere).
I hope that you can get past last night's anger - which was totally justifiable, she sprang this one on you AND she cried at you, I'd be angry too! -- but I hope you can get past last night. It's a drag to haul kids here and there all weekend, and it feels like her desire for time with friends is adding more chauffeuring to the list, but she can hang out at your own house at times. Surprise her big-time by taking the initiative yourself once in a while: "Saturday the 18th, (a date in the future) you can have a friend (set the number) over here, top a pizza yourselves and have the den to yourselves for movies or games or whatever (you and dad are committing to keep the siblings out of her hair). Friend comes over around, say, 4 and we will take her home at 10 (transportation is set).. Who are you going to ask?" She'll be blown away that you're initiating it and that you're giving her a space that's temporarily brother-free for her to be with a friend.
When she wants to go to someone else's, think about a rule that she has to give you X days notice (you decide how much you need) and you have to get a text or e-mail from the other kid's parent with confirmation. No more "I want to hang out right NOW" kinds of surprises from her, but also some initiative where you say, the answer will usually be yes, but you have to follow these steps. She might complain like last night that she doesn't always have notice herself, but I'd tell her it's up to her to work with her friends to curb the last-second calls. Again-- tell her it's going to be yes much more often if she gives you notice and is flexible about others' needs. Then say yes whenever you can.
In the case of the hangout last night -- the friend's mom drove her back home to your house. That's pretty much what we all do around here with our non-driving teens; if one parent brings a kid over, the host parent might bring that kid back home at the end. It's fine to tell your daughter to ask, "My mom can't pick me up at the end because my brothers will be asleep and my dad is out. Is it possible to get a lift home, and next time we'll bring Jenny back home when she's here?" If the other parent can bring her back to you, it all works, and if not -- maybe next time. Don't hesitate to ask the other parent about a ride, or to say to your girl, "Well, you can't go tonight because Jenny's folks can't bring you home but that's not their fault or ours -- how about you and Jenny make a plan for next weekend and we'll know way in advance."