Nah, I'm more or less in line with you in terms of average distribution.

I'm specifically stressing that I wouldn't want to add EXTRA warp point in proximity of any other small camps across the map.
Thisalready feels like a Lilliput diorama world (frozen in an eternal moment in time where is permanent noon, too) where everything is at most one minute of walk away.
Last thing I'd want is make it down to 15 seconds by increasing the number of teleporting spots in proximity of each intermediate camp fire.

I feel like it would be perfectly acceptable to go, for instance, through three or four "contextual mini camps" between the major warping points.

Party control in Baldur's Gate 3 is a complete mess that begs to be addressed. SAY NO TO THE TOILET CHAIN