Refill HPs on the map possible?

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Can I refill my HPs on the map - not in battle? I sometimes have battles that leave me with very little hitpoints, but it seams I can only refill them when in battle. Is it possible to do this on the map (like in the houses where water gets refilled?)
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Images: cottonbro, EKATERINA BOLOVTSOVA, Nataliya Vaitkevich, Ivan Samkov