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what type of rest is required to remove a level of exhaustion?

i'm asking specifically regarding the Forced March travel pace. if it goes away after a long rest, gaining one at the end of a day of forced march doesn't really impose much of a hindrance, as you're about to take a long rest anyway.

It takes a long rest. It does count if you get two levels of exhaustion on that day, as your long rest only removes one.

Here's the relevant rules section, with one important rule highlighted:
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Forced Marches and Rides
A forced march consists of an accelerated pace for an exceptionally long time – instead of spending 8–10 hours traveling at a reasonable pace, a forced march or ride might require the characters or mounts to travel from first light to complete darkness at a quick pace. During forced marches you cannot take long rests.

If the forced march continues for a number of days beyond your Constitution modifier then you must make a Constitution saving throw each evening with a DC equal to 5 + the number of days force marched so far. On a failure you gain a level of exhaustion. If it is a forced ride then your mount’s Constitution modifier is used and they must make the saving throw instead.

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Recovering from exhaustion does require a long rest and you must eat and drink, which of course could be another factor on a long trip if you have to rely on supplies rather than foraging.