[2020] Can people sleep together?

Entities will sleep in the same room, but not the same bed.

Families (two companions and their immediate children that have not become adults) will try to join the same bedroom if it's big enough. Each family member needs at least three blocks worth of room. So, a family of 5 needs a 15 block room for them all to share it. Entities which are single will try to join their own room. When they do find a companion, they will leave that room to join the companion's. When children become adults, they'll leave the family bedroom for their own.

As for sleeping, entities will not sleep in the same bed at the same time. If all five entities try to sleep at the exact same moment, that means you'd need five individual beds.

Does that answer your questions?

The same minus having children together.