Daggerfall, like others have said, was really pretty much the same thing, find a safe place, hit the rest button...done...that's not hardcoe. Having to return to the nearest dwelling and spend several days tending to your wounds, or pushing through another rough journey and challenge with limited health, would be hardcoe.
Only in dungeons, and yes, it was kind of a luxury, except you had to spend time finding that place to rest - not always close by, and gave me some hairy ones. For the sleep mechanism, I'd say you had to rest in a "bed", although this bed could be of different qualities. Any make shift bedding set up in a dirty dungeon would take a long time to heal up. Instant wrt gaming time, but with a hardcoe mod would make you more hungry.
I like it. It means I don't have to rely on leveling Restoration outside of battle and it means I don't need to consume Restore Health potions outside of battle. Forcing the player to rely on Healing (spells, especially if potions are less effective )means forcing the player to level Restoration and that's... not exactly a good thing.
You have to think of it from a realism standpoint. Cast a spell (or whatever means) or risk dieing if you don't? Sounds pretty much like a players choice to me, one which may have a consequence. I thought player choice and consequences for your actions was part of role playing. Could be wrong of course...