To be honest, BG1+2 and many other games do not restrict resting at all or not very much.
Bg1+2 had a few timed quests, but most of the time time is not a problem.

I think Kingmaker was the only big RPG with hard timers, at least from the ones I played.
And even there the time limit is so large that you run only into trouble if you ignore quests for weeks or even month.

Since the game is timeless (no day/night cycle, no way to measure the time that has passed in game) real urgency is almost impossible to create.

Maybe resting should cost a resource, like every char needs a drink and a food to rest.
It does not really hinder you a lot since this stuff is cheap and can be found everywhere, but I think the question "Do you want to spend rations to rest for the night?" would have a psychologic effect.
It makes a difference if you can do something for free or if you have to pay a small prize every time.


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