Harambee Stars were expected to win comfortably, but they were forced to come from behind after Nahom Girmai Netabay capitalised on a defensive error to put Eritrea ahead in the 36th minute.
Ryan Ogam eventually rescued a point for Kenya in the 86th minute after finishing off good work from substitute Ben Stanley Omondi.
Although the result was met by boos from frustrated supporters at the final whistle, McCarthy was proud of his players and believes their limited time together affected both their organisation and finishing.
“There is nothing that can make me complain about the game, that I can point a finger, that can I say like the team lacked this, the team lacked that, because they had the desire, they had the heart to perform,” McCarthy told the media after the game.
“Like I said lack of preparations kind of showed out there because we weren’t as clinical as we wanted to be.”
The former Bafana Bafana striker feels Kenya could have been better prepared with more training sessions before the qualifier.
“So, if we could have had two sessions before the game, I think we could be better organised, and we would limit mistakes that we had,” he said.
“We definitely won’t make the mistakes like we did that cost us a goal, and our finishing quality in the final third would also be better than what it was against Eritrea.”
McCarthy also defended goalkeeper Byrne Omondi, whose error contributed to Eritrea’s opener, insisting the shot-stopper has his full backing.
“Since I started as coach, he’s come in, and when I look at Byrne, I see the stature of someone like Denis Onyango,” said McCarthy.
“He reminds me a lot of Denis Onyango with his time at Sundowns and big stature, and every single day in training and during CHAN, he was exceptional.”
Kenya next face Guinea in Conakry on October 1, with McCarthy looking for a stronger performance. Kenya, as one of the 2027 AFCON co-hosts, are already guaranteed a place at the finals.