Yes, I've done that. Similar story...
I was working on a project with a company up in Peterlee about 25 years ago, I was travelling up there every day, about 120 miles from where I lived at the time. Brand new Rover 214 hired for the job, the Honda Concerto shaped one.
Zooming up the A1 one Monday morning, I was a bit knackered from the weekend, I can remember being suddenly woken by drifting gently onto the bump strip near the central reservation... and then the realisation that I didn't recognise the scenery. I have no idea to this day how far I went whilst in the land of nod, it could have been hundred yards, it could have been half a mile.
Cold sweat, window down, radio up. Scared me witless, and I've never done it again since.