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However for animals they should do it all the time. Provided they aren't following anyone.
its rough when you have 5 or less people. one of the things i do is at the start (early game), is i dont touch priorities on the first 3 people. when i get my fourth, then i play with the checkmarks. when i get 5, thats when i do the numbers game on priorities.
back to my first sentance. becareful not to give them too much work to do. you dont need big stockpiles, you only need them to be as big as you "need". dwarf fortess pays to have a big hoard. this game, and the raiders, has a lot to do with what youre worth.
no need having a 15x15 stockpile, especially at the start, when you only need a 7x7 for damn near the whole game (you'll need way more then one stockpile tho and youll need to upsizecertain ones like food). you can set what goes into said stockpile and set the priority, but i gather you knew that :)
When this happens you can try to manually tell someone to haul the item in question, if there's an issue with storage it will tell you if there's no place to put it.
Probably I'm just missing something, I just bought this game a day or two ago, so there is lots of things for me to discover.
One thing to try is to remove every task from their list except Hauling and to see what happens. If they jump to Hauling, then obviously that's not the problem.
Something to remember is that the more tasks they have, as others have stated, the busier they'll get with higher rated tasks, not "higher prioritized" tasks, than lower rated ones. Hauling is near the bottom of the list, going from Left to Right. So, the task priority list is a matrix, with higher strength priority on the left and lower as you read to the right. That's by default, as how you prioritize those tasks acts as a sort of multiplier. (Use numerical prioritization rather than just the checkbox method. You'll get used to it.)
With all the stuff your limited number of colonists have to do in order to survive, it's likely you may manually prioritize a task, like Cooking, for example. Be advised that when you manually prioritize a task to get done, like any production bench task, the pawn will pretty much ignore any other task until that prioritize one is finished, even going so far as to hit starvation because they're doing what you told them to do. They will, however, tend to stay at the bench you told them to prioritize if you manually order them there, let them work a little while, then click on them and click the "remove prioritized task" symbol in their action menu, all the way to the right. If they like that task a lot and there isn't another higher priority task that they consider to be worthy of doing, they'll stay there at the bench under normal protocols.
When you prioritize things, it interrupts their automation. That's a good thing. But, it can keep them from doing other things that need doing. Balancing all of those needs and getting things done is a critical component of gameplay. It's also one of the more challenging components, so don't worry if you're having a few issues with it - You'll master it eventually and, occassionally, fail just like everyone else does. :)
I just have one guy with 10 attached and it handles basically all the moving needs for a large base. Much easier than breeding and training dogs, and its an easy fix when these die for stupid reasons outside of your walls.