Those to whom Jesus spoke were, mostly, the poor and oppressed.
They labored as hard as they could for their entire lives just to keep themselves and their families alive. Of course the idea of rest from their labors was immensely appealing.
Would it have had the same appeal to Roman aristos lolling around their palaces between orgies? I don’t think so.
I believe Jesus used rest, something his hearers longed for and never got, as symbolic of Heaven as a place where all your needs would be fulfilled. Also symbolizing peace and other good things. But not inactivity.
John 5:17. “But Jesus replied, “My Father is always working, and so am I.”
The Heavenly Father and Jesus do their work, with the angels.
Remember Jesus was speaking mostly to those who are poor and opressed in the Gospels.