Traveling at 35 weeks?

I’ll be 35 weeks Thursday and my husband wants to go see a friend this weekend who lives 4 hours away, his wife has 4 month old twins and that’s why I’ll be going too. It never occurred to me to ask my OB what she thought of me being gone for about 24 hours because this is my first and I’ve had no issues other than a preterm labor scare at 32 weeks that ended up being nothing. My friend just made the comment ‘ I’m surprised your ob is letting you travel’ so now I’m concerned. I have an appointment tomorrow and I’ll be asking. What’s your thought?