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Having said that, I've found in my own games that any time a caravan is formed the caravaneers will pick out new beds upon their return. Sometimes the same bed, but if they're in a relationship they'll tend to bunk with their partner.
I don't think I have any mods which would affect this, so I assume that's vanilla behaviour.
Worst-case scenario, I usually just unassign one from their bed when the notification comes up - and let them choose their own bed next time they sleep. All the non-prisoner / non-monarch bedrooms I use have double-beds for this reason.