Honestly, I feel like Pathfinder Kingmaker handled the rest aspect in a really neat way.
The timers would be a big ask for I can't imagine its easy to come up with the correct amount of time for a large variety of different players, but I really enjoyed making camp and assigning roles to my party based on their skills (cooking, hunting, guards, ect)
Camping also cost resources if you couldn't hunt, in dangerous areas, which would be a good solution for rest spamming in places like the underdark and in the middle of goblin town.
