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This portion of the Cyberpunk 2077 guide explains how to heal and includes tips for perks that will help you regenerate health.
There are a number of useful perks that allow you to auto regenerate health or take less damage to begin with. Here are some of the best (lower level requirement) perks:
There are also perks that can allow you to deal more damage when at lower health. Be sure to Check out all the Attributes and Character Perks (Skill Tree) plus our recommendations for Best Attributes, Perks, and Skills. There are also Cybernetic enhancements that can make you stronger which can be installed by Ripper docs. For more, check out Ripperdoc Upgrades Explained.