Is there a sin upon one who wakes up assuming the Friday prayer has been missed, for not going to the mosque due to the long distance and not hearing the Imam's voice?

There is no sin upon you for missing the Friday prayer as long as you did not abandon it out of negligence, but rather because you thought you had missed it due to sleep. This is based on the Almighty's saying: "And there is no blame upon you for that in which you have erred." Sin is incurred by whoever abandons it out of negligence, as stated in the hadith (definition): "Whoever abandons three Friday prayers out of negligence without an excuse, Allah will seal his heart." It is preferable, when you think you have missed it, to delay the Dhuhr prayer until you are certain the Imam has finished the Friday prayer, and then perform it.