Losing approval is perhaps one of the worst ways to do this.
Why should players be penalized for playing the way they like?
It's not that frequent rest affects anyone other than the player himself.
I would say that strong restrictions have a greater negative impact on the game than if the game did not have them at all.
I am not buying the argument that it breaks the balance. No DnD game had practically any rest limits and it was never an important part of the games.
Because it's an rpg and rpgs are defined by choices. In the same way that killing random NPCs will make all other nearby NPCs hostile, it's reasonable that frequent long-resting (when companions explicitly tell you to rush to Point A) will result in disapproval of said companions. You
don't get to just do anything you want to in a game, because the developers have to code for all possibilities and it's good for games to be relatively immersive and responsive to character decisions.
How is companion disapproval a strong restriction on resting? It's a fairly minor penalty, as approval is relatively easy to get. A more extreme consqeuence would be Lae'zel just leaving your party entirely (possibly for re-recruitment later).
