In addition to using beds, you used to be able to sit on chairs/benches to restore health. However, the ability to use the latter was removed in late beta. I'm always noticing there are still benches and chairs strategically placed around the wilds though.
I'm not really sure why they did away with heals from sitting. Perhaps they felt it was too easy or convenient. I think it's a shame; a bed is always a rift-travel and short jog away, so it's not like it's difficult to heal. However, it sure does kill the immersion a lot more than simply sitting on a bench near the side of a road, or a chair at the ruins of a house while out on our adventure.
