Most of those sensors are time based/ mileage based. You should change your oil around every 4k miles driven. Unless you are noticing smoking or other bad effects I'd say you'd be good for a few day to day drives...but with a 5 hour drive I'd get it changed...yeah definitely get it changed.
"It doesn't matter if you win by an inch or a mile, a wins a win."
-Vin Diesel, The Fast and The Furious