OK, I know this is the reverse of what you are doing, but I tell you this to show it's possible.
Several years ago,I drove St. George (Nevada) to SFO, we left St. George @ 8am, and passed LAS @ 9am, got to Fishermans wharf @ 8pm. It was about 630 miles (your trip will be about 570 miles). I found the state line a good place to stop - cheap food (steak and eggs for 99c)
I was completely knackered at the end of the drive (I did all the driving), and if at all possible, make sure your car has cruise control for this one.
Good luck and enjoy your trip