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I've made plenty of four-hour round trips in my FR-S doing about 3500rpm in sixth gear. The car will handle it no problem, it's within the design specs anyway. The only downside to cruising at that rpm is the decrease in fuel economy. It makes more sense to decrease your speed a bit and cruise at a lower rpm than to rev it up higher just for a bit more speed. You'll be fighting more air resistance and it'll take more fuel to maintain your speed at those higher speeds.
It matters to me as I make these round trips often so the fuel costs add up. To some it doesn't matter, but to answer the original question again, yes the car will be fine cruising at 4000rpm.
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I pay more per month for insurance than I pay for the FRS.
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