Yes, he denied it vehemently on Dateline NBC. Let me see if I can find an early transcript or clip.
I haven't seen the documentary ... but getting drinks from the car ... I thought that was a given. They were at a beach bar and the staff tolerated him filling their cups (blue cups if I recall correctly) from the car. No one fills their cups with juice from the car ... so that's not possibly true.
Thanks for looking for the link.