Aunty Ethel's lair is a non-rest area in act 1. And I think there's also one in the Githyanki crèche. And short rests are allowed. And by that time I usually have a few of those potions that are essentially a long rest. Or a short rest with benefits. And there's a restoration pod in the mindflayer colony.
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I think the minimap gets colored in red in such areas but I agree a better indicator or a hint could be nice.
In case of moonrise towers, if you just cross the bridge back to town you can long rest there and come back.
After moonrise towers
We're in the illithid lair now, considering we jumped down a hole to get here I doubt we'll be able to get out
I can't remember if I reloaded a previous save or fast traveled out of there, but there is a way to heal down there I believe
There is a restoration thing just before the final boss
The minimap turns red when entering restricted rest areas, hard to miss.
Hard to miss if you know what it actually means