To elaborate on this: one of the uses of the Medicine skill is to Treat Wounds. At the basic level this is a DC 15 check that takes 10 minutes, heals 2d8 hp and removes the Wounded condition, and can't be repeated on the same character for 60 minutes. If your Medicine proficiency is higher than Trained, you can make progressively harder checks that heal a lot more. There are also some skill feats that improve this, notably Continual Recovery which removes the 60 minute cooldown, and Ward Medic which lets you Treat the Wounds of two or more characters simultaneously. Both these skill feats require you to be an Expert in the skill, which you normally can't be until 3rd level, so unless you push really hard you won't get both until 6th level (Expert at 3rd, one feat at 4th, the other at 6th). There are ways to get them faster, but that requires being a skill monkey class (Rogue or Investigator) or sinking serious resources into it.
Treat Wounds is really nice, and makes it so you can expect to start every encounter at or near max hp, assuming there's no time strong time pressure. But it does require someone in the party to be a medic, and likely max out Medicine and getting at least one skill feat. But once you get there, you don't have to worry about hp attrition at all anymore. It's sort of like 4e short rest healing, except with infinite healing surges. In this model, healing spells (heal and the occult version soothe) are more for emergency healing – and given the amount they heal, they're pretty good at that. A top-level heal will likely heal a front-liner for about 50% of their max hp.