Rest is essential in Kingdom Come: Deliverance 2. Sleeping fully restores your health, eliminating the need for excessive food and potions. Here's how to catch some Z's.
How to Get a Bed and Sleep in Kingdom Come: Deliverance 2
Early in Kingdom Come: Deliverance 2, securing a bed is paramount. During the "Wedding Crashers" quest, choosing either the blacksmith (Radovan) or miller (Kreyzl) questline grants you access to a bed. Radovan, located in the closer town of Tachov, is a convenient option. Complete his smithing tutorial to gain access to a bed in the room next to the forge.

This bed will be marked on your world map, and a nearby chest provides convenient storage. Return here whenever you need to rest and heal.
Sleeping at Campsites
If reaching your bed proves impossible, numerous campsites scattered throughout Kingdom Come: Deliverance 2 offer alternative sleeping arrangements. Some may be occupied by bandits; clear them out first. Campsites are marked on your map, and you can interact with bedrolls to sleep. Comfort levels are lower than a proper bed, but they suffice in a pinch.
Sleeping in NPCs' beds is a last resort; getting caught could lead to a confrontation with the guards.
That's how to sleep in Kingdom Come: Deliverance 2. For more tips and tricks, including torch usage and optimal perk selections, check out The Escapist.