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Yell if you cant find it, i'll look through my mod list and find the name for you.
Maybe this one?
https://steamcommunity.com/sharedfiles/filedetails/?id=1279012058
I always just got extra pawns and give them high priority to haul and clean. And really nothing else. So if theres nothing to haul, they clean.
1. Create a new area that's only the fields and the stockpiles.
2. Change pawn(s) allowed area.
If they are on the day shift, do this after they wake up and eat (or recreate). I do this all the time at the beginning and end of growing season. I start at 9h until 15h (9am-3pm), if they go idle before that then I know the job is done, otherwise at 15h I check their needs and release them back to unrestricted.
Also, if you just have 2 pawns, one set to plants #1, haul #2. Other pawn set to plants #2, haul #1. They have nothing better to do than perform those two jobs ... ok, except if one decides to cloud watch, but their needs should have been taken care of before they work.
So you click to a temp priority setting when a big task needs doing like end of the season harvest, clean up after a raid, ect. So your not manually changing priority numbers all the time.
While You're Up is another one that can help to some extent, more so overall with everything you do than just hauling crops though. It checks when someone is going to start another job / eat if there is something nearby to haul and will take it with them.
With it, if you are mining some steel way out of the way, once your guy has to run back to eat or sleep or wahtever, he grabs a handful (assuming the person isn't against doing it by traits) and heads back to base. Makes a big difference over time and makes sense.
Set haul as a higher priority than growing. They will harvest one plant, then instantly haul it. It's extremely inefficient.
There are a lot of mods that make hauling easier, but for the most part it's easily controlled base game by simply not having too many open hauling jobs. A mistake a lot of people make is they queue up too much work for their colonists and nothing ever gets done. If your crops aren't being hauled quickly after being harvested then you have too many hauling jobs waiting to be done and/or not enough haulers. It's a pretty simple fix without mods.
Ofc, this behavior is hard to setup in larger colonies I'm just relying on Pick Up And Haul to sweep large harvest from farms.
So, I'd like to see this feature added into Pick Up And Haul one day:
"If pawn harvested any item and there's space in hauling inventory, put it in."
As of 0.9 this is a core feature. It is one of those mods that got Internalized, like the Wilderness Bar.
https://steamcommunity.com/sharedfiles/filedetails/?id=1544626521
It's now vanilla behavior, but mod searches for opportunity hauling more aggressively.
Last time I used it, It didn't work well with Pick Up And Haul, because it's using standard "one stack" hauling, distracting pawns from other jobs to do hauling inefficiently.