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You want the beds to have enough space between them, your char has no issues walking between them.
Being on a second floor will not stop them from using the beds.
https://steamcommunity.com/sharedfiles/filedetails/?id=2471917277
One can build all sorts of building as long as one keeps floor, stairs and pathways connected. A few surfaces may not be walkable by settlers, like for instance the roof of the Red Rocket Station near Sanctuary. In those cases will you have to put down floor tiles before your settlers will step onto them.
Settlers that are assigned to scavenging will walk all over your settlement (searching for junk). Settlers who are assigned to multiple guard posts will walk patrols between the posts. This can be used to have guards patrol through buildings and across several floors. A settler can be assigned up to three guard posts, but cannot share these with other guarding settlers. This, too, is a way to increase your settlement's defence rating.
I've done what I consider some great work using the standard glass warehouse parts and warehouse flooring to make some excellent multi-level custom homes with indoor power, farms and attractions. Glass looks a lot better than shack construction and with all glass walls (and a glass roof), you can see everything that's going on. I even have exterior decks and paths to the roofs with tables and deck chairs which the NPCs do use when they're off duty. Don't worry about using glass or anything else in construction. All walls offer the same protection in this game. Unless an enemy warp spawns into the building, everything inside is protected from even a mini-nuke attack from the outside.
https://steamcommunity.com/sharedfiles/filedetails/?id=2471943125
https://steamcommunity.com/sharedfiles/filedetails/?id=2471943215
https://steamcommunity.com/sharedfiles/filedetails/?id=2471943334
https://steamcommunity.com/sharedfiles/filedetails/?id=2471943497
https://steamcommunity.com/sharedfiles/filedetails/?id=2471943743
https://steamcommunity.com/sharedfiles/filedetails/?id=2471954261
https://steamcommunity.com/sharedfiles/filedetails/?id=2471944060
https://steamcommunity.com/sharedfiles/filedetails/?id=2471944151
https://steamcommunity.com/sharedfiles/filedetails/?id=2471944317
https://steamcommunity.com/sharedfiles/filedetails/?id=2471944484
That said, in order to make sure your NPCs can pathfind everywhere, use your companion as the tester. Say you're travelling with Nick. Once you're done with a certain floor or section that you need tested, crouch down with your gun out to see if Nick can follow you to where you are. Observe that he actually uses the steps and pathfinds and doesn't just appear next to you. Or that he doesn't snag at some unforseen obstacle (something as simple as a wire or light in the wrong place can stop an NPC cold). If your companion can properly pathfind and reach all points in testing, so can your settlers. Don't be afraid to just stand around observing your settlers for a time when you're done to be certain. Sometimes steps and landings can be very finicky and tricky to get right, so be prepared to make edits and adjustments.
A few more tips - Flooring and roofing are considered to be the same when it comes to "sheltered" beds, meaning that you can also use flooring to build roofs if necessary. Use power passthroughs to pass power through walls from the inside to outside and vise versa. I prefer to wire up my houses for power distribution and lighting on the outside to reduce clutter on the inside. I also always shelter my generator(s) as they can be targeted by enemies and take any electrical dependant defenses offline with them if they are disabled in combat. Finally, consider using indoor farms as they are protected from battle damage. Have fun!
Any sitting spots also attracts them from what i noticed. When i was building a bar once i wasnt finished furnishing it yet. No attractions but few chairs + tables and stools placed and settlers started flocking in during evening hours and started hanging out sitting at the tables eating and writing and sitting on the stools aswell.
I was like geez people the bar isn't open yet!