Camping - Ultima VII: The Black Gate (DOS)
From Video Game Music Preservation Foundation Wiki
You sometimes hear the guitar-focused Camping song when you bed down for the night in Ultima VII: The Black Gate (DOS). This may be accompanied by The Guardian saying, "Yes my friend, rest and heal, so that you are strong and able to face the perils before you. Pleasant dreams..."
This song is track 30 in the game's data files.
Camping is not one of the five songs named in the credits, and the game's music files are left untitled. Thankfully, the song was released on the Origin Soundtrack Series, Vol. 2 album which gives it an official title. The song is the third part of track 7 preceded by Fortune Teller and Seedy Tavern.