Sorry, I was out of town when you posted this.
Yes, my kids regularly fall asleep in their carseats. In fact, if I drive anywhere too close to naptime, it is a struggle to keep them awake.
On another note, because of reflux and constant congestion, my boys actually prefer to sleep in their carseats (you know the infant carrier kind). We are working on moving them out of them, but my ped says it isn't hurting them. Still, I can't imagine it is as comfortable as a bed.