I have a three-hour drive I make twice a week. I can second the motion of "glazed-over" eyes.
But let me tell you: When the "collision avoidance alarm" fired mistakenly once, I was VERY AWAKE for the next half hour.
Assuming the sensors are good, and that they include failsafes that will let you know right away when they AREN'T working, it absolutely would be a net positive to have something else watch during the "boring" times and then let out a loud "Red Alert!" buzz as soon as something unexpected came along.
So no, I don't think the driver would be "impaired even more," at least not if the sensors worked well enough to throw an alarm if something unexpected happened. A set of sensors on top of a car should have a better view of the surroundings than a human, and wouldn't suffer from that kind of fatigue at all.
More, the human is not going to be hypnotized by the road if they aren't actively driving. As a passenger my eyes frequently check out the scenery; as a driver you're forced to watch the road nearly 100% of the time.
P.S. in my drive, I tend to pull over at the halfway point, so after about 90 minutes. And last night that did feel like about 10-15 minutes too long.