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That being said, maybe it does affect something in game for your character but the game doesn't tell us anything. There is a tiny number in the icon, dogbed is different number than Bhutan bed but nowhere I have seen any explanation. But then the game is like that in a lot of ways.
If you hold your mouse over the comfort buff icon in the UI the tooltip explains bed comfort rating and shows you the health/stamina regen impact of the current buff. You can also see what comfort level you had when you rested on that buff icon and you can see the effect if you look at the health and stamina regen in your player stats.
Things like being in shelter, warmth, etc. enhance the comfort rating.
+1 for Lighting
+1 for Heating
+1 for being on a Foundation/-1 for being on the Ground
+1 for being under a Roof/-1 for not being under a Roof
There may be augmentations that help at some point but I've not seen any.
You cannot sleep on a bed with negative comfort (this is why you can't normally just plop down a matress and sleep)
Finding a cave (Roofing) or putting a candle down (Lighting) can make it so you can sleep out in the field.
If I could change one thing about this game it would be that "passing out" isn't a death. It's kinda stupid. Just clock me out on the spot for a few seconds and wake me with like 5% sleep. If I'm fighting enemies when it happens... Well that would be death already.