We drove 5 hours for a mini vacation/husband's work trip, and Andy did so great in the car! He slept just about the whole time, and we only stopped once to eat and do a diaper change.
Unfortunately I have no real advice to offer for others - just wanted to celebrate - I think we got super lucky.
(He's not a super sleepy baby but he does like the motion of the car and morning naps, so leaving early helped.)