Have you checked your speedometer against a what speed a satnav says, could be that it is out and you may be doing 55-60 instead of 65?
Each person and their car is different, I do 60mph when with slower minis and 70 when I'm by myself, but I have 1380cc so doesn't quite compare. I sit at 4k revs for hours on motorways and have had no problem.
I will check my speedo next time I travel, but is sitting at 4k ok in a 998cc engine? And isn't it really noisy?
You have to remember the original Mini was designed in the late 1950's when drivers were more tolerant of noise and high revs when cruising at higher speeds and motorways were few and far between.
If you have been brought up in the era of modern cars with 5 or 6 gears and low revs and noise levels when cruising on motorways then driving classic Mini's can come as a bit of a shock......
Your right with the 5th and 6th gears thing. If you go at 70 mph in a modern car, but keep it in 4th then the noise is very noticeable and tiring.
I do think its the lack of a 5th gear, rather than the actual engine that differentiates a mini from a modern car on a motorway.