I tried observing it once, but I don't remember what I saw. It didn't seem to be an issue so I ignored it, but I rarely encounter path-finding issues these days.

That being said, they can't function through a closed door so do your pals a favor by removing it in favour of an alternative.

You can maintain an entry-way aesthetic on your barn by...

1. Building 3 high
2. Attach roofing
3. Destroy walls where and how you'd like your opening

Between this and ensuring adequate spacing between beds (e.g,Merchants struggle to navigate through tight bed spacing), your pals should be able to navigate perfectly fine. :)

I have had larger pals get upset when unable to sleep at night because there was no accessible bed. Oddly enough though, if I slept through the night it wouldn't happen. I think because there was enough "nighttime" for them to get upset. Of course ymmv but might be worth throwing one or two outside to be safe!

I've seen mine pass out in front of machines and be totally fine

I always recommend sleeping with your pals