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In Kenshi sleeping is just for healing. They will not sleep if in full health. That is why.
Funny enough, after posting this question, I am now having more difficulty getting people to sleep even when they require healing. It seems to be a bit random/unreliable, or I am missing a piece of the puzzle
Sometimes people standing around idle with injuries, tried with jobs turned on and off, they just wont go to sleep sometimes unless i manually tell them to
And I do have that AI option enabled that Shiden mentioned
I build very small outposts and only do this for my dedicated workers. I don't know how well this works with large towns and lots of pawns.