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I've done around 5 hours a few times with the kids; the first time, DD was almost 2.5 and DS was 7 months. To be honest, it was probably my hardest solo trip! DS was going through a bottle strike so he was hungry the whole trip, but also refused to eat. But, we did it again (5 hours one day, and 5 hours again the next day) about 1.5 months later and it went much better.

I use one of two schedules when driving on my own with the kids: 1) we go to lunch and leave immediatley after, during afternoon nap time. The kids will sleep for 2.5-3 hours and then usually be ok playing in their seat for another 1-1.5 hours. We take a 15 minute break about 1 hour from our destination, and then get back in the car and finish it up. 2). We leave about an hour before lunch, then stop at a playplace or park for an hour break. Then we get back in the car for naptime; the kids usually sleep 2.5-3 hours and then play until we rach our destination.

Whenever traveling, we have a rule not to let the kids cry more than 15 minutes continuously. We also bring along calming cds; our kids like Josh Groban, so we just rotate out those cds the whole trip. When stopping, I'll usually look on my phone first to find a park, library, museum, etc... to stop at so the kids can stretch their legs.