In a tour of Hampton Court, the part built in the 1500’s (and given by Wolsley to Henry VIII), the guide mentioned that the fancy dining hall doubled as a sleeping room at night. Unless you were really important, you did not get a private roon, you grabbed your blanket and bunked down with the rest of the crew. If you were important enough, you got a private room and a bed (possibly with fireplace) and your trused servant slept at the foot of the bed on the floor, or possibly across the door so it could not be opened surreptitiously. The rest of the entourage and bodyguards slept outside that door.
A side note, too, as discussed in an earlier thread, it’s only about 1600 to 17000 that actual corridors appear. Until then, construction was too expensive to waste on space just for walking; one room had a door that lead to the next and so on. You can see this floorplan even with Anne Hatheway’s cottage or the multi-story old tenement building on the Royal Mile(?) in Edinburgh.
Typical manor house had a giant eating hall and a selection of rooms leading off this. Fancier, the hall was tall enough that a stair and gallery ran along one side (so you could jump from it to swing from the rough wooden chandelier during swordfights). Off this gallery might be a buch of smaller private rooms or suites, but unless you were rich enough to travel with an entourage of guards (to prevent your riches from being stolen) you slept in the big room.
As mansions became fancier, the rooms did too and so possibly acquired private fireplaces; but then (see thread on what happens if there were no oil or coal) the volume of wood needed to keep the place toasty warm would have been enormous. Generally, the fire roarded until it became embers, and hopefuilly the heat of the stone hearth helped until morning.
I too remember staying at a relative’s in a very old dutch house; no heating other than the main fireplace, and few strategically placed electric heaters downstairs and in the bathroom. Under a cozy down comforter upstairs in the old part of the house, with no heat, it probably got close to freezing - but it was remarkably comfortable and cozy warm.
A lot of medieval travellers were pilgrims, had very little money. If they had none, they tended to stay in charity places - monasteries were noted for having a meeting hall or kitchen where travellers could bunk down, and if the monks fcould afford it, a small free meal. Gentlemen adventurers also fell into this category - if you had/showed any decent money, you would be accosted by 4 or 5 robbers in the woods (in green, with bows) on the way to the next town. Oh, and all that metal you were carrying as weapons or armour was extremely valuable too. You don’t wander on your own like that without a fast horse (more expense, more booty to steal); you travel in groups of 3 or more. And a good fallen tree or trip-rope would negate the flee-with-horse advantage.