Speaking of fast travel, remember you can use waypoints literally whenever you want.
Also keep in mind if anyone at all sees you in the midst of pickpocketing, you'll be interrupted and won't be able to complete your pillage. There are no second chances to remedy this mishap, either! You can only pickpocket someone once - ever! - so make sure your thievery ability level is high enough to make it worth your while. If your thievery skill isn't high enough, you won't be able to pick a person's pockets clean, possibly leaving behind some incredibly valuable loot. Whether you’re stealing off a shelf or from a pocket, you’re sure to make a profit, but before you attempt to steal from someone, consider your skill level. It’s free and fast, what more could you ask for? For quick access, make sure to move the item to your hot bar. When in a multiplayer game, each player will need a bedroll, but it’s still much better than standing around or constantly casting Regeneration.
Bedrolls can be found all over the ship and the rest of Act 1 in Divinity 2, and they can be used infinitely to completely heal your entire party when out of combat.