I mean, is the combat supposed to be challenging without the possibility of defeat? Or is the expectation here that fights only taxes ressources, they never threaten lives? If it is what you're after, there is guidance, as the difficulty levels of encounters are built exactly around that ("will the characters die if they are low on ressources?"). You lower the difficulty. The medium difficulty is not supposed to get you a TPK with fully-rested characters.
But if the goal here is to have super tensed encounters, with razor-sharp margins even with characters at full health, without ever threatening any lives, as I said in my previous post, what kind of guidance could possibily give us that without every fights becoming super predictible? If there is tension and razor-sharp margins, there is a risk of death. It's already quite cushioned with the various healing powers and death saves of the characters, I'd say, and if it's still not enough, there is, also, an entire entry of the DM's toolbox in the last DMG about characters death, which would provide you some guidance around how to play around that, like putting death as a hard limit, or giving alternatives to death in case of defeat. I play quite a lot with kids who very much mind losing their characters, so I'm familiar with this problem, and I wouldn't say it's not addressed.