Traveling by car at 34 weeks(almost 35)

One of our best friends is getting married on July 7th about 4-4.5 hours away. My husband is in the wedding, but I am not. We are planning on driving down Friday morning and back on Sunday. I talked to my doc about it today and she wasn’t thrilled and usually doesn’t recommend being more than an hour away— has anyone done this?? Luckily, I have had a fairly easy pregnancy so far with no big complications —only needed to start taking iron this month. I just need input. We’re planning on stopping once an hour for me to walk around and pee... thanks mamas