I disagree, we regularly go on trips with friends which require 8-9 hours driving, I've never asked for money but some of the other drivers do as there's usually at least 2 cars going.
There's one friend in particular who refuses to contribute anything to fuel and food/drink whilst away, yet they're happy to eat/drink what "they brought" as well as help themselves to the communal stuff and since they don't drive or have a car they'll never be the ones driving.
It's simply manners to offer to contribute, the driver may not accept but it's NICE to be asked if you want anything for taking them. After all the driver doesn't get a break and generally doesn't at any point in a trip get to chill out entirely (and have a drink).
I guess some people don't think they need to be polite to mates?