I think that sleeping in a bed should be a normal thing, specially when we get more animations for things like crawling in and out of them
To incentivize sleeping in beds, a 150-250 xp lore event should be added called "A New Day" which you may get if your character has slept through the night (game night, or even just several hours of rest). Another potential option would be to get the event for sleeping off travel weariness.
Beds should give some other perks as well in the long-run, like slower energy drain from your actions after sleeping for several hours, or something to that effect