Rest is vital in Kingdom Come: Deliverance 2, offering a crucial way to fully restore your health without relying solely on food and potions. Here's how to find a place to sleep.
How to Get a Bed and Sleep in Kingdom Come: Deliverance 2
Securing your own bed early in Kingdom Come: Deliverance 2 is key. During the "Wedding Crashers" quest, you'll have the opportunity to follow either the blacksmith or miller's questline. Completing either Radovan's or Kreyzl's quests will grant you access to a bed.
In my playthrough, I chose Radovan in Tachov due to its proximity to the starting area. After completing his smithing tutorial, you'll gain access to a bed in the room adjacent to the forge.

This bed will be marked on your world map as your designated sleeping spot. A nearby chest provides convenient storage for your belongings. Whenever you need to rest and heal, return here.
Sleeping at Campsites
Situations may arise where reaching your bed isn't immediately feasible. Fortunately, numerous campsites are scattered throughout Kingdom Come: Deliverance 2's roads and forests. Some may be occupied by bandits, requiring you to clear them out first, while others are unoccupied.
Marked on your map, these campsites offer bedrolls for resting. While the comfort level is lower than a proper bed, they serve the purpose of health restoration.
As a last resort, you can sleep in NPCs' beds, but be aware that getting caught could lead to a confrontation with the guards unless you can successfully talk your way out of trouble.
That's how to sleep in Kingdom Come: Deliverance 2. For more game tips and guides, including torch usage and optimal perk selections, check out The Escapist.