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First of all, your townies take actions to fulfill their needs on their own behalf in most cases. So, it's not easy to force them to eat or drink. Especially, if the icons are still completely blue, they might wait to eat or drink until they finished a more important work task.
Also, townies check if a resource is already occupied or claimed to be occupied. So they know, when some other townie is on their way to eat or drink the last resource of a food or beverage supply and do not head that way then. That could be the case if your cauldron is the only food supply of your town.
About dropping townies on the ground: You are correct. If dropped from too high, they fall down. But they also fall on the ground, if you touch them too hard with your hands, unless you activated ghost hands in the Control settings.
About raising arms and grunting: Townies do that, when they cannot fulfill a task most likely because they are too hungry or too thirsty but also if there are no resources around that would be needed for the task.
I hope these explanations answer all your questions. Let me know, if you have any further questions :)