Rest days


I have heard that you should take rest days to recover from strenuous workouts. I mix my workouts focusing on cardio and strength but using some walking, yoga, pilates, etc. as rest day workouts since my workout time is as much for anxiety and mental health as it is for physical health. Of course, if I really feel sore or like I have overdone it, i take a day off. Am i okay to use the lighter workouts as rest or recovery or do I need to find another outlet and throw in a complete rest day or two?