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If they're going outside of their zone to get to crops, they probably don't have enough food easily available, so fix that. It's also possible that they have to go through those areas to easily access others, so give them room to get to where they need to go and move doors/openings with that in mind if you need to.
Herbivores will eat natural grass, but harvested haygrass is more nutritious for them. Anything that's harvested, AFAIK, is more nutritious for them than its non-harvested version. A large number of herbivores can strip the map of grass, too, so it's best to be prepared with harvested haygrass stockpiles.
Animals will also feed themselves, going into freezer areas by themselves, so there's no need to manually feed them. All animals will eat kibble, so its best to set up a separate zone for carnivores that have access to kibble, since herbivores can eat haygrass and producing kibble could cut into the colonists own supplies. (Pemmican works, too, as well as stored human corpses, if you don't mind that.)
Ah, gotcha. What I should have said is that herbivores will eat kibble, too.