Hasn't been my experience. I get mentally exhausted after just 2-3 hours of pair programming, and tend to be borderline useless the rest of the day.
Having to communicate the entire time your thought process, not really being able to just take the wheel and investigate things quietly for a few minutes, and if you're letting them drive, getting them to go to the right spots in the code and modify the right things (especially if english is their second language) not easily being able to get up and walk away from the computer if you need to ruminate on something for a moment...yeah, just fries my brain.
Still need to do it at my work, since I'm managing junior developers right now that just don't see some of these things without pair programming, but it's exhausting.
Part of that is the coaching junior developers that need extra handholding, but I've found it almost as tiring even amongst peers of equal skill, if it happens for an extended period of time.