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That last one's probably what you want: just put a hauling area for food inside the pen, fill it with a bit of food and the animals will feed themselves.
Its a good idea to make a few different zones where animals are allowed. If you keep animals including pets from going inside your base it will be much easier to keep it clean. if you make an inside area like where your kibble is then you can send your pets there when you get attacked and then they wont all get killed by raiders. just make sure to put the pets back to their regular zone after the attack.
last tip I make loads of animal sleeping spots around my base. that way at night all the animals go there to sleep. Then they are all very close so its easier to slaughter them as needed.
In addition to this, they will only feed an animal when it's in an animal sleeping spot/bed. When an animal is downed from starvation it needs to first be rescued and then once it's resting colonists will feed the animals, and they will generally use meals to do this since they are "more efficient" even if it doesn't make sense in the context. If you have no free animal sleeping spots/beds the animals will just be left on the ground to starve to death.
So if the issue is your animals are sick and downed or something and not being fed, that might be the cause. Most of the time as everyone else mentioned though you want animals to feed themselves.
problem solved
Edit: https://steamcommunity.com/app/294100/discussions/0/6081551521126659581/#c6081551521127055705
You can also do the kibble, with the appropriate way to keep it from decaying, if you have a lot of food supplies or want to work up your cook's skills. In fact, there are times when I am working up 2 or 3 cooks and the higher skill cook makes human foods, and the lower skilled cooks will do butchering and make animal food, since I don't care as much if the animals get food sickness (which I don't even remember if they do or not, or if has changed)