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Two people are going on a long trip (let's say 8 hours). The first guy drives the first 4 hours, and the other one drives the remaining 4 hours. Is it then OK to say they are driving in turn?

Also, are there other "casual"/informal ways of saying/describing that above?

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Yes, "driving in turn" makes sense, but it is not the common way to say this. Native speakers will be more likely to say:

They are taking turns driving.

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Tashus is correct and the common idiomatic expression is to "take turns driving".

Other possibilities:

Split the driving. On the long cross-country trip the two of them split the driving so that neither would fall asleep at the wheel.

Switch/rotate drivers. In order to make good time they would switch out the driver every few hours.

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