So Regen working outside of combat is something that the engine does, and is currently considered effectively a player choice.
If a person discovers this and wants to take advantage of resource generation and pace around for 30 seconds, they're free to. But if someone doesn't and wants to push through, that's in keeping with the game's theme of adventuring hubris.
So if you want to take advantage of that, it's available, and if not, you can beeline to rooms/objectives.