We travel every weekend. I'm 25 weeks and have taken several 10 hour road trips in the past few months. You only start to be restricted in the 3rd trimester. The concern then is blood clots in the legs from restricted movement. Just make frequent stops so she can use the restroom and stretch. Be sure she is drinking plenty of water and eating well.
She'll be fine just as long as she drinks plenty of bottled water I took 3 9hr trips from Texas to tn all the way up to 6 months then I tried the plane at 6 months that wasn't such a good idea at 6 months I really felt the pressure on the baby which could make you go into labor of course I didn't know that at the time I just thought it would be healthier then driving at 6 months turns out a car was best.
They only worry about travel when in the 3rd trimester. You will be fine. Just make sure she drinks plenty of water and stretches her legs.