A good condition car should not have any issues after 1-2 hours on highways. On mountain roads, particularly on descent, yes, cars should be given a rest for brakes to cool down.
There are many components which have to work well for a safe journey.
Car engine
Car brakes
Car tyres
Human element (fatigue, drowsiness)
All these things have their limits. The problem is we don't know exactly what that limit for each of these factors is until that limit is crossed, resulting in inconvenience, or, god forbid, an accident. Only safe way for us is to assess the conditions ourselves and drive within the margin that we are sure is safe.