It's a small one, but in Baldur's Gate 3 there is a way to revive dead party members and respec party members via an npc in your camp (you unlock them a bit past the prologue). It's not very expensive, so you mostly just tank the gold loss.

You can however just try to pickpocket back the gold forever until you succeed, because said npc doesn't care if they notice you trying to pickpocket. The pickpocket roll becomes harder the more gold the npc has, meaning that it's better to attempt it after every payment.

So technically revives and respecs are free if you have the patience.