Indivi!!
IDEA!!
Hear me out: *pause for dramatic effect* Sleeping bag.
Can be used everywhere and anywhere to sleep, but everytime you have a chance to be woken by an enemy trying to attack you, but this can be lowered the higher your stats are in senses. Because you'd be able to know and wake up on time. Certain areas you wouldn't be able to, but I'm thinking mostly in outdoor areas. Basically a way of moving forward the characters, without having to leave, find a bed, sleep, and return. If you are also planning on friends following you like Rinny does in Transylvania, they could protect you while you sleep, and you do the same for them when you wake up. It's a lot of systems, and might take a while to implement, but we've been traveling alone a lot recently, and I got to admit, I take Rinny with me everytime I'm in Transylvania.