Large queues of traffic built up while Cleveland Police dealt with the incident just south of the A689 Hartlepool turn off, at Wolviston, on Sunday evening at around 9pm.
Traffic was said to have been delayed for more than two hours until the vehicles, which the force said drove southbound on the northbound carriageway, were removed from the road.
Two men, aged 43 and 58 and from Eastern Europe, were arrested and have been charged with driving while under the influence of alcohol and dangerous driving.
They were due to appear at Teesside Magistrates Court, in Middlesbrough, on Tuesday.
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