Aniimo gives you several different ways to top off HP for both your character and your Aniimo. Here's every way to recover HP, from active skills to the Healer NPC at the Outpost.
Recovering HP via Aniimo Skills and Traits
Aniimos with the "Heal" role tag are guaranteed to have a team-wide recovery skill. For example, Skippy's Water-element skill Healing Water carries both the Support and Heal tags: it restores all allies' HP by an amount equal to 8% of the caster's max HP, and restores an extra 10% of the caster's own max HP over 5 seconds. It costs 20 EP and has a 20-second cooldown.

Some Aniimo families also offer passive recovery through their trait. The Flutternym family trait boosts your active healing by 20% while it's on the field, and passively restores 0.5% of max HP whenever another Aniimo in your party casts a skill or Ultimate, even while Flutternym is off the field.
Where to Restore HP in the Open World
Bonfires are scattered across Idyll and burn with Vein energy. Approaching one steadily restores your Aniimo's HP over time.

There are also 4 RV Parks on the Breezy Plains. Find each park's keeper to activate and join that RV Park, and it will continuously restore your Aniimo's HP. Blooms found out in the open world can restore HP to both your Aniimo and your character, even during combat.

Restoring HP via the Healer NPC
You can visit the Healer NPC, Kim, at the Outpost. Selecting the "Heal Aniimo" dialogue option restores both your character and all of your currently deployed Aniimo to full HP, at no cost. The dialogue option itself only mentions restoring your Aniimo, but the confirmation dialogue and recovery effect confirm your character is restored too.

Can You Restore HP via Held Items or Consumables?
As of Version 1.0, the held item Marching Flask is the only equipment that provides passive HP regeneration over time. It's slower than a skill's burst recovery, but it doesn't consume EP or require managing a skill cooldown while you explore. There are currently no consumable healing items, potions, or food rations in your bag that you can use for on-demand HP recovery.
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