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You can put two single beds in the same room and assign each of them to one and it will count as them "sleeping together."
PS: I don't think they'll make happy-happy-joy-joy-time, though. But, at least they'll get the "sleeping together" benefit.
Emancipate sends them back to their home faction.
I don’t really know, never had slaves, but my assumption is that you could abuse the system by making every new pawn a slave until they leveled up their skills and then switch them to colonist. If you have to imprison them at least you have some time/resource commitment and you can’t mass-recruit a bunch of new colonists in the event of a raid or quest.