Per-rest abilities and resting has been an issue of every cRPG adaptation I have seen. Not sure, what cosmetic day&night cycle is supposed to do to address this issue. Universal camp is a strange concept, indeed.
From existing titles Pillars of Eternity had my favourite solution - carrying capacity of two camping supplies. While it didn’t prohibit players from spamming rest if they were willing to track back to town to buy more, it did allow for devs to pace how much intended rest there is per dungeon.
I would be curious to see per-rest system applied in a structure designed around that idea - perhaps like something similar to Dark Souls bonfires - resting in specific places only, and not being able to take one fight at a time. That would restfully in a very different game though.