Honestly, allowing us to travel to a main camp when physically possible shouldn't be bad I think, would set up mechanics for a proper home base. While like in places like the underdark I think it should be not possible to warp to it.
Warping to the main camp should be possible *if*-& only if-you're near a Waypoint. Otherwise it should be a physical location you travel to on the map, and obviously that location may need to change as we get into acts 2 & 3. Any other time you camp, it should use the mini-camp mechanic, maybe with a few little aesthetic differences to the locations to get around 1varangian's concerns....or just go with 1varangian's suggestion & use the mechanic that Solasta uses to such great effect.
Either way, though, I am still of the view that Long-rests should have some risk of interruption, maybe with some kind of precautions you can take beforehand to minimize said risk (like camouflaging your camp-which would require an appropriate roll to achieve....which I admit I borrowed from the Pathfinder game
).
