Eh, not really much to worry about.
I would be a bit nervous about leaving the sub on that long, simply due to the nature of the plate amps in most subs, seems that those are more likely to fail catastrophically.
I doubt that you caused any harm. If anything, just maybe you took a few hours of useful lifetime off the gear.
Down here in the deep south in the dog days of summer, I sure as heck don't want to forget to turn off my amp! My parasound 1206 puts off quite a bit of heat and 100+ degree temps are the norm every day. That much heat in a small room is noticeable, and my AC has to work harder to cool down the room.