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https://rimworldwiki.com/wiki/Shooting_accuracy
https://rimworldwiki.com/wiki/Weapons#Accuracy
If you have pawn selected and hover over another, you'll get chance to hit shown on screen.
Did that and got same hit chance regardless of lightness combinations.
For accuracy, I believe that Pawn A would not get the penalty to shooting at B. while B would get a penalty when shooting at A. Even if it is not a shooting penalty, there would be a movement penalty for the one in darkness and not the one in light.
Keeping your killbox lit is actually making the game harder for yourself, because darkness causes a movement penalty, and you're helping the baddies move through the killbox/parimeter quicker.