I agree that there should be some way to regen.
Heal over time or let us eat apples. I prefer to heal over time at the moment because we can’t plant new trees.
However, the fall damage in itself is very forgiving. You can fall pretty far without taking damage imho.
If you want to explore you can always set a new home location when you are starting to get low on health. Then respawn and carry on exploring. That is unless you really want to keep your current home location of course.