Retired trucker here.
Make sure you take frequent stops, even if they're relatively short. Your body appreciates the chance to move around.
If you get tired, don't hesitate to pull over and either stop for the night or at least take a nap/switch drivers.
Snacks and plenty to drink are a must. Also a good idea on trips that long to drag along a gallon of wiper fluid and some coolant. You never know. Make sure people know your route, so if you don't show up when/where you're supposed to they know where to look.
Other than that, just hang onto the wheel and keep an eye on what's going on around you. 99% of being a good driver is compensating for the not-so-good drivers out there.
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