sich ausruhen
to rest
To take a break in order to recover from physical or mental effort and regain strength.
Nach der langen Wanderung müssen wir uns erst einmal ausruhen.
After the long hike, we first need to rest.

to rest
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to rest
To take a break in order to recover from physical or mental effort and regain strength.
Nach der langen Wanderung müssen wir uns erst einmal ausruhen.
After the long hike, we first need to rest.

'Ausruhen' (to rest) is a separable verb. The prefix 'aus' comes at the end of the sentence in main clauses.
Nach dem Mittagessen ruhe ich mich immer eine halbe Stunde aus.
After lunch, I always rest for half an hour.
In the main meaning 'sich erholen' (to recover), the verb is reflexive. You must always use 'sich': ich ruhe mich aus, du ruhst dich aus, etc.
Du siehst müde aus, du solltest dich etwas ausruhen.
You look tired; you should rest a little.
The figurative meaning 'to stop making an effort because of successes' always uses the preposition 'auf' with the dative. The pattern is: sich auf etwas (dative) ausruhen.
Er kann sich nicht auf seinen alten Erfolgen ausruhen, er muss weiterarbeiten.
He cannot rest on his old successes; he has to keep working.
The two meanings are easy to distinguish: when the verb appears without the preposition 'auf', it is about physical recovery. With 'sich auf etwas ausruhen' (to rest on something), the figurative, negative meaning is always meant.
Ich ruhe mich am Wochenende aus.
I rest on the weekend.
to sleep
'schlafen' and 'sich ausruhen' can both serve recovery, but they do not mean the same thing. When you 'schlafen', you are actually asleep. When you 'sich ausruhen', you take a break and regain strength; you can stay awake, sit, lie down, or calmly drink something. Learners confuse the words because people often recover through sleep. If someone only needs a break, 'sich ausruhen' fits better. If someone closes their eyes and falls asleep, you say 'schlafen'.

Nach dem Training ruhe ich mich eine halbe Stunde auf dem Sofa aus.
After training, I rest on the sofa for half an hour.
Das Kind schläft schon, weil es den ganzen Tag draußen gespielt hat.
The child is already asleep because they played outside all day.