Kaifuku Mahou o Kiwametara Bukkoware Seinou ni Natta.: Mekake no Ko to Hakugai Sareru node Jikka ni Tayorasu Ikiteiku!

https://www.cmoa.jp/title/348553/

Once known as the "Sword Saint" and renowned as a hero, he dreamed of free adventure, but he reached the end of his life bound by fame and mission, unable to live the life he wanted. On his deathbed, he was given the right to "start his life over" by the voice of the goddess, and was reincarnated as Reynard, the son of a concubine of the noble Baron Wombard family. Despite being discriminated against as the child of a concubine, he uses his unconventional healing magic to heal not only his own wounds but even broken items, carving out his own destiny!