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if you are open to mods, satisfied storage will allow this, for the stockpiles at least. possibly the feeders as well, never used them before.
otherwise, like glass zebra said, small stockpiles. maybe a stockpile barn to hold the bulk thats off limit to the animals to help reduce the workload.
Setting a couple tiles or a shelf in an animal area to hold hay will absolutely work and is something I often do when grazing isn't an option.
First: what do you mean with a small stockpile? I'd think of a stockpile with 1 or 2 tiles. But how do I make sure every stockpile gets some food in it. I do use Stack XXL, I set Foods to Not changed. That'd be 200 each stock right?
Second: I do use quite some mods, but I started this game already. I'll definitly use Satisfied storage and greenhouses in the future. I don't want to give this save up
Third: Ye, hauling is not really going as it should be. I do need colonists to do some dumb labor. I should trade with factions I think for slaves or something. My dogs are also not constantly hauling for some reason
Fourth: I did set the stockpiles to Preferred/Important. It comes down to the hauling indeed. But I'm mostly afraid it gets hauled to only one stockpile and the others are forgotton
I think I have to go with the solution of tearfang for now, at least until the hauling is set up properly
Depends on how many animals you have, in your case 1 tile would probably work for now, upped to 2 later if you let them breed enough, or just start with a shelf to make it easy. Default max for hay is 200 yes. You get hay in all stockpiles evenly by making sure you have enough of it. If you have 4 pens with shelves in each, 2 stacks of 200 hay in each, that's 1600 hay total to fill all shelves, so just make sure you try to keep more than 1600 hay at all times. If that seems like too much for your stage of the game use 1 tile stockpiles instead of shelves for now to halve it. That looks like boreal forest so you will probably need a few thousand by winter anyway.
4. If you caught up with hauling needs and have surplus hay, all stockpiles there should be filled up until max. It does not matter how many stockpiles are marked as preferred as long as there is a lower priority stockpile which still has stuff to fill them.
Having one hay storage is indeed a lot more efficient than several spread ones.