You can also use an SSH key for authentication with jenkins-cli.jar (configure the key in the Jenkins user configuration), so if "environment" refers to non-technical reasons, that would be an option.
Then there's the REST API. POST to /safeRestart to perform that action. For authentication, use the API key of the user account in Jenkins instead of a password.
If you use the Groovy plugin, you could create a job that performs safeRestart in a System Groovy build step with 'jenkins.model.Jenkins.instance.safeRestart()'. Schedule as you would any other job.
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