Musar על סנהדרין 209:15

Most difficult of all is the problem how G–d could become angry at Bileam for accompanying the messengers of Balak, seeing He Himself had authorized him to go in 22,20? Our sages in Sanhedrin 105a conclude חוצפא אפילו כלפי שמיא מהניא, "insolence pays even if it is directed against Heaven."