Assuming that are some long stretches where you don't need the visual Navigation guide, and if you haven't already tried this, see what happens if you keep the screen off until the voice announces that you've got a turn up ahead you want the screen on for (I'd recommend one of the many apps that disables the lock screen so a quick tap on the power button brings the screen right up).
In my experience, keeping the screen off allows the car charger to keep up with the GPS battery drain, or even slowly charge the battery.
Haven't tested your approach but I'm betting you're right. ScreenModeWidget or myLock can be used to skip the lock screen, by the way.
It works for me, when I need it to, but sometimes I don't even need to. It really does seem to be a case-by-case basis thing, owing to all the factors you noted above.
Another possibility might be to buy an inverter to convert the car's DC current to AC current, and plug in your normal wall charger into the inverter. I don't know enough about the technicalities of this stuff -- I just know the wall charger delivers a much faster charge and maybe you'd also be able to deliver a bunch more charge with an inverter?