I think the biggest problem at the moment is:
Many scenes and companion quests only progress when you rest.
So the game does not only allow you to rest anytime without any danger or downsides,
it also punishes you for not resting often so you miss content if you do not rest after every battle.
Short rests are pointless when you can sleep after every fight without problems.
The best suggestion I have seen so far is using the TW3 model.
You have to walk to a fast travel point and from there you can teleport to any other fast travel point you have already discovered.
The camp would be a fast travel point too.

Prof. Dr. Dr. Mad S. Tist

World leading expert of artificial stupidity.
Because there are too many people who work on artificial intelligence already