I also dislike the way rest is implemented. And not just the timing. The camp is awful too. Where is this camp? I can teleport to it from the bottom of a dungeon, have a sleep, and then teleport right back to the same place I was standing. This really destroys the believability of the world for me. I also hate that the camp is the place I talk to my companions - why can't I talk to them on the road?

Maybe we could have restrictions on where we can rest? For example, can't rest if monsters are nearby, or if indoors, or in hostile locations (like the Goblin den). To compensate, let us have more short rests - like in the 5e rules where we get one short rest per hit dice.