It isn't breaking the fourth wall any more than throwing a companion off a cliff to gain Rest Points is.
Look, the idea is that if the MC is you, and you are the leader of the party, and you command someone like Lae'zel to jump off a cliff, and it hurts her, she might get kinda pissed that you told her to do it. Sure, she still went through with it, and she was an idiot for not telling you to get lost, and she actually did it, but the point is that if Larian provided such a consequence, people might be more careful about having their characters take such huge, purposeful jumps.
I'm not suggesting that every time they take fall damage you lose relationship points. I'm talking about every time you, the player initiate HP loss on a party member. So, if you attack Lae'zel, she would get pissed because you slashed her with a sword. Likewise, if you have her jump off a cliff on purpose, she might not like that.
And I'm not talking a significant relationship lost. Just a small one to discourage abuse of the Rest Point system.
