Too easy?
So you like walking simulators? You want to spend 10 minutes walking just to get to camp, and another 10 minutes to get back where you were?
Absolutely no game does what you are suggesting. Any game with huge maps give the choice for speed travel, so you can focus on the game itself and not walking around.
Besides that, like many people that complain about this kind of "issue" in Skyrim, and other games, you can simply not use it and play the way you think it is appropriate for you.
First, I am quite certain a majority here all realise that a solution will be needed for the Long Rest at will situation.
1) The OP did NOT at all propose an absence of fast travel nor a specific solution that requires walking back and forth 20 minutes.
2) "Absolutely no game does what you are suggesting." Absolutely false. Many CRPGs make you travel across both large maps and local maps. BG2 comes to mind, along with long series of similar D&D games, but also Pathfinder: Kingmaker (you can build a few rare teleporters, but you still have a good distance of travel between locations), Pillars of Eternity 1 and 2, Solasta, etc. What CRPGs are you talking about to make such an absolute claim of absolute truth? Yeah, Skyrim and MMORPGs almost always have fast travel and you do not need to rest for a night.
AGAIN, the solution to the Long Rest at will does not need to be walking non stop, but Long Rest has to be somehow moderated or limited between fights and areas. In a few games I named here, they use camping supplies as the method. Others force you to find an inn or one of the camping spots.
