I’m most familiar (although casually) either UK/EU rules, and this page has an excellent breakdown of what’s considered the bare minimum this side of the pond for safety.
Personally I prefer to have a 20-30 min break every 2 hours which leaves me feeling sufficiently refreshed, and conveniently works perfectly for changing a 64kWh EV enough to do the next leg at the same ratio. I honestly believe switching to an EV has forced me to become a safer driver with regard to taking breaks.