I think the whole triad of rest-camp-travel should be heavily reworked. They kind of depend on each other.
Travel: scrap waypoints entirely, use TW3-like signpost. You need to get to a signpost to fast travel to another one (and discover them first). Some might be conditionally available (like places where you'd realistically might have trouble getting to easily).
Camp: remove "teleporting to a secret stationary camp from anywhere". Make some alternative "backgrounds": open terrain, grasslands, forest, riverside, cave to symbolize setting up camp in different areas. No need to be extremely specific, enough to symbolize that you are indeed setting camp in the Underdark not far from the place you hit the "rest" button, rather than suddenly teleporting to wilderness with starry sky above you.
Rest: limit long rest to certain "safe" areas (like friendly settlements) or "cleared" areas: say, explored wilderness without dangers nearby or a room in a dungeon with no unexplore areas close by. If "cleared area" system is too complicated, overlay "safe resting spots" on the map and have characters mention something like "good place to rest" when first visiting a new "safe" area.
I also like the idea of bringing up the camp when short resting - would be an improvement to pacing. I'd also suggest making this "camp-lite" on short rests; don't show camp elements (tents and what not), just your party taking a breather and having the opportunity to talk.
