Importance of “free stroke” and “rest stroke” distinction

Hello, I am fairly new to classical guitar, although I have been playing country-blues fingerstyle for a few years now. I am working my way through Aaron Shearer’s Classic Guitar Technique volumes 1 and 2 (jumping back and forth between them). I’ve realized, as I’ve read his descriptions, that I don’t think I’ve ever played “rest stroke” in my country/blues playing. He spends a lot of time talking about the difference between the two strokes, which indicates to me that they are both important to learn.

Based on his description of rest stroke, I tried playing it and it feels very unnatural and strange (which I’m sure is due to a lack of practice). When listening to the tonal differences between rest stroke and free stroke - at least when I play them - they sound pretty similar, although rest stroke maybe sounds a bit punchier? So my question to other players is: do you think the difference between these two strokes are important to learn? Should I spend a few weeks really trying to learn “rest stroke?” They honestly sound pretty similar to me (although that could be because of an untrained ear AND my inability to play it well) and I’m wondering if I should prioritize learning/practicing rest stroke or if the classical community feels differently.

I hope this question makes sense. Thank you!