My hand pain is different as I'm developing arthritis in my thumbs and other fingers. I use Motrin (Advil) and just suck It up. In your case, I think the guys nailed it...too tight a grip. I move my hands around and will change primary grip from one to the other...also, using a stress ball or gripper is good. I found that a few minutes using the gripper during a night run actually helped refresh me...not like a nap or coffee, but I didn't need to stop!
OTR driving normally means you'll be hauling freight to various customers throughout your company's hauling region. It often entails being gone from home for two to three weeks at a time.
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Adding: try some padded fingerless gloves like weight lifters use.
Phil