Pathfinder:Kingmaker approached this issue really well. You were always under a time limit, so resting has a tangible cost (ex. you had 35 days to complete X story beat, travel would probably cost you Y days, so resting too often would really put the squeeze on). You could also be attacked in your camp if you rested somewhere unsafe.
With fast travel from anywhere it gets a bit trickier though, since there's no time cost to traveling and you can just fast travel somewhere safe to rest and then make a boring trek back to where you were. Never underestimate the pain players will inflict on themselves for the sake of being optimized. But the entire rule system is balanced around short and long rests, so Larian needs to find some way to encourage you to push your party as far as they can go before resting.
