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For example, Stable#1 trains Scouts only and Stable#2 train Camels only (Just imagining it as you queue up those units specifically for those stables)
If Stable#1 choose its own building as rally point, Scouts will garrison into the building. The exceed Scouts will go outside the building, If Stable#1 rally point is Stable#2, Scouts will go there but stand outside. If Scouts who is inside building leave, they are unable to garrison their building again.
Tldr, military units can only garrison in a military building if they are trained from that building, with the exception of Castles and any variants of it (Donjon, Krepost).
You can’t naturally garrison in military production buildings like a TC, Tower, or Castle.
You cannot garrison units who are already outside the building into Stable/Barrack/Archery Range/Siege Workshop. You also can't garrison Siege units unless they are trained inside the building.
TC is an exception, since the only thing they can't garrison are siege units and cavalry(that includes cavalry archers)
In addition to what Birb said:
In the Barracks, Archery Range, Stable, Siege Workshop and Monastery, newly created units can be only garrisoned if you set the gather point on the building by selecting it and then right-clicking on it.
This was a change from AoE 1 where "production camping" (= hanging around with military units in front of enemy production buildings to snipe new units) is a thing.
Yep. Units heal automatically when they are garrisoned inside any of the buildings Birb mentioned. There's also a technology in the Monastery called "Herbal Medicine" that allows units to heal 6x faster. All civs except Byzantines, Huns, Turks and Vikings have access to it and Teutons get it for free.