I have, a few times. The first time, was when I took my sister to her new college, in Missoula, Montana. We left Tulsa, OK, around 3:30 am CDT. I didn't get any sleep the night before. We made it to Witchita, KS, and stopped for breakfast. She doesn't like to drive in large cities she doesn't know, so I drove out of Witchita. On the northern side, I pulled over and let her drive. She made it to Salina, and had me take back over, because she didn't know the town. I got through the town, and started west, before letting her take over again. She drove for about an hour, then pulled into a rest stop and let me take over. I drove the rest of the day, and made it to Casper, Wyoming, around 6:30 pm MDT, before we stopped. Never, NEVER drive I-70 in western Kansas without someone to talk to! It's boring!!!!
When I moved from Tulsa to Jackson, MI, we left around 10 am CDT, and drove straight through to Jackson, MI, arriving 7:30 EDT, with stops for foods and numerous pits stops, as PeppA was preggo with our twins sons at the time. She drove her truck, and I drove a U-Haul towing my car. I was fine until about 3 am, about the time we were in Indianapolis. I started getting drowsy. I kept the interior cold, and made many coffee breaks.
On the way down to Tulsa last month to visit, we left Jackson about 12:45 am EST. I drove all through the night, and made it to the western side of Indianapolis before turning over the wheel. She drove the rest of the way to Tulsa. I tried to sleep some that early morning, but didn't really sleep much, maybe an hour.
On the way back home, she drove all the way to St. Louis. I drove all the way home. Again, I started getting drowsy around 3 am. I was stopping for coffee about every hour or so.
I don't have a problem with team driving, as long as the off-duty driver actually gets some sleep. Otherwise, it's not really a good idea. If we go back down to OK to visity my family next year, we'll be stopping for the night.