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Thank you for the tip/advice though
Under current conditions, it seems like the best way to heal them up is to get them killed, then purify the corpse - they will then be good as new. And all you have to deal with is healing up the very large dose of frost that gets put on your health bar.
Alternately, you can leave them without tasks then leave the base for a few days. Seems like attacks don't come in when you aren't there so they'll eventually heal up.
But if there's a way to heal them when they are with you on an expedition, I haven't found it.
Conversely, if you don't allow them to heal but use them until they die with the intent of simply "purifying" them, they take a very large hit to morale. Supposedly low morale causes them to misbehave, but I'm not sure that's implemented yet either.