I think if travel to camp was limited to only being accessible from a waypoint, you could have scenarios like falling into the Underdark where you literally canâ€™t long rest until you find a waypoint down there, which I think would work well. And if youâ€™re in really bad shape when youâ€™re down there, you would need to rely on mechanics like stealth to try and avoid combat in order to find the waypoint, which adds an interesting dynamic. Sure that wouldnâ€™t affect the first part of the game much, but hopefully as the game progresses, there would be more instances where you canâ€™t just backtrack to camp.
Agreed. The Underdark should be a scary, stressful place to explore. Especially if you're unprepared. Having to find a waypoint or a dedicated camp site or have very limited rations would all improve the atmosphere imo.