I have a sleep disorder. I can no longer nap, have alcohol (at all), caffeine after 9am, and so on.
I also love napping and have napped my entire life when possible until recently.
Since I can't nap anymore without ruining my sleep I now sit or lay quietly with my eyes closed and just rest. I set an alarm for 5-10 minutes and snooze for a few minutes over and over until I "get up". I never really fall asleep so (reluctantly) ending this rest period is not that hard.
This doesn't give you that same rested feeling but I can destress, lower anxiety, and so on. This absolutely has led to me sleeping more deeply at night, getting drowsy before bed, etc.
A little like meditation but mostly just taking a break.