Electrician Ben Lloyd, 24, of Womersley, near Knottingley, was struck by a VW Polo as he walked along the motorway near Castleford at around 3.40am on December 21 2013.
His father Paul Lloyd told the inquest into his death at Wakefield Coroners Court yesterday that he is still searching for answers more than two years on.
It is not known why his son was on the M62 after getting into a taxi following a night out in Pontefract.
Mr Lloyd said: “While time and evidence was lost the police acted on assumptions.”
He said from the start police felt his son “was to blame” because he had alcohol in his system despite his actions being “completely out of character”.
Mr Lloyd added: “All we have ever wanted was respect for our son’s life and answers for our questions.”
Lee Scott, who was out with Ben that night, said Ben was no more drunk than was usual. He was two-and-a-half times over the drink-drive limit.
Emma Gledhill, one of two women who got into a taxi with Ben, described getting into the car outside the Horse Vaults pub at around 2am.
The taxi stopped at Natwest on Ropergate, where she said Ben took out £50 for the fare before the women got out in Castleford.
Speaking through an interpreter, the driver Mohammad Dawood, said he charged Ben £12 and requested more to take him home to Womersley.
He said Ben, who twice left the car to vomit, went to the cashpoint at the BP garage on Park Row, near the M62, and walked off.
Mr Dawood said: “I knew he was drunk, I asked him ‘do you still want to go?’ And he didn’t say anything and I left.”
After his death police found £16 in Ben’s pockets.
Ian Mullarkey, for WYP, said Mr Dawood’s story “changed” as he earlier stated one of the women offered to pay him £50.
The inquest continues.