You can sleep in the bath house in Talmberg. I go in the second building on the left. That’s a 100% bed.
If you can pick the lock on the Samopesh baliff’s house late at night without being seen, you can sleep in there. Just get up before dawn so nobody will see you coming out of the house. This is a 100% bed. If you decide to go on a crime spree, sleeping in the baliff’s house seems to insure you against a surprise wakeup - at least it worked for me.
There is an outdoor bed behind the barn north of the baliff’s house. However, the balif’s wife likes to sleep there until the keys are recovered. Across the path, there’s another bed where the baliff sleeps until he gets his keys back.
While wearing cuman armor - especially a full face helmet - I’ve spent the night in the cuman camp. But those are only 80% beds.
I’ve also slept in one of the tents in the bandit camp furthest from the main entrance. But not for a long time. I needed to heal so I stayed only long enough to get some health back.
You can sleep in the huts at the quarry camp.
You can sleep in the huts at the charcoal plant on the way to Pribvisalitz (or however it’s spelled).
If it’s day time, I’ve caught 20 winks in some of the Samopesh houses. But I won’t try to sleep for more than a couple of hours there.
Sneaking into the Talmberg shopkeepers bedroom after everyone is already asleep, and getting up at dawn works. Just don’t go in too early or get up too late or you’ll be paying a fine.
I sure wish it was possible to sleep during combat. Especially if I’d be sleeping in the soldier camp. Unless it’s the soldiers fighting me, that should be a safe place. However, that’s a no-go.