Given a K8s Cluster(managed cluster for example AKS) with 2 worker nodes, I've read that if one node fails all the pods will be restarted on the second node.
Why would you need more than 2 worker nodes per cluster in this scenario? You always have the possibility to select the number of nodes you want. And the more you select the more expensive it is.
If whatever you are building needs only two nodes, then you wouldn't need more than 2. If you are building anything big where the amount of compute, memory needed is much more, then instead of opting for expensive nodes with huge CPU and RAM, you could instead join more and more lower priced nodes to the cluster. This is called horizontal scaling.