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https://steamcommunity.com/sharedfiles/filedetails/?id=1309994319
It should be automatic but it's not instant, I'm not sure what the normal delay is for treating conditions on a caravan. I usually don't pay attention to it, it just gets done in a reasonable amount of time, probably less than 0.2 days.
If you mean "manually" use meds when you tell them to, ya, there's no way to do that in vanilla, I don't know if Smart Medicine has that option, I haven't use it in a long time. Caravans in vanilla will use medicine and treat wounds automatically as they move though, it's not as good as tending in a bed but you can save a lot of time after a mission by just packing up the caravan immediately after killing the last enemies and letting them tend on their way home, I do this all the time.
My memory isn't always immaculate and I often mistake small details here and there but I'm quite sure of this.