If you are willing to try mods, and in your case not wanting to fast travel at all, are on PC, If it were Me, I'd try these on for size.
http://www.skyrimnexus.com/downloads/file.php?id=145
http://www.skyrimnexus.com/downloads/file.php?id=272
1 or the other. not both. I'd only use them when frustrated. just my opinion.