Guide to Sleep
You can sleep in beds, on the floor, sleeping bags.
The button F will come up saying “Rest” you will then be able to rest to gain a bit of stamina, sleep to skip time and gain health/stamina/warmth bonuses and you can rest till next daybreak which will auto wake you up in the morning.
You can sleep without sleeping bag or bed! The option is in your inventory. It’s the little character in a bed icon, you will then be able to sleep on the floor.