I wonder how difficult it would be to implement the campground as a location on the current map. It would need to be right near the beginning and not easy to miss of course. I'm thinking make it a little island with a waypoint and a drawbridge or something that can be lifted at night when it's time to sleep. When you discover it, the usual dialogue would play, "This looks like a good place to set up camp." At least that would make sense from a narrative standpoint as to why you always come back to the same location for camp and how people know how to find you there. It would be great if in the morning you woke up there and then could just seamlessly walk right across the bridge out into the world.
I also still think limiting fast travel to only be from waypoint to waypoint would help limit the amount of long rest abuse, but maybe that's just me.