Fortunately, I rarely travel alone and rarely do we "free style". What you are doing is as hard as single-pilot IFR. There is just too much to do while driving. At least a light plane will fly itself for a few moments.
I see you are a truck and trailer. That makes things a little harder, but if you can set up the cab to have a laptop in view or at least at the ready, you can run Street Atlas (with a GPS) and have lots of things from the
Discovery Owner's site on the screen. I used to do this in a Dakota cab, but I built a table for the laptop. That way, you can at least look over at the little arrow on the screen and see what it is near.
My only other answer would be to over plan. That also requires that you rewrite you plan every night. We have done that too, but we are again traveling as a driver and navigator and that does make things easier.
Matt