In game if you set meditation or work schedule your pawns will do it and will not stop unless hungry.
Recreation: once it's at 100% they just wander around. Why can't they do some social interactions recreation.I give them time to get to know each other :(
Sleep: yes there is a mod you can use to force sleep manually, but way?
I set the sleep time, go sleep and don't get up before the alarm clock goes off. Rest,make love just stay in bed and keep rest level at 100%.