Isn't touch pretty likely when you're under the covers with someone? Either accidental or on purpose? How are you going to figure that out? Seems like a landmine.

From managing kids in awkwardly arranged holiday accommodation: if each person is in their own sleeping bag, you can usually avoid any direct contact. Possibly easier with kids because of size, but as an extra precaution roll up the quilt and place it down the center of the bed.

depends on the size of the bed, but sure, the courts aren't going to be any better at resolving in person sexual assault now in 2022 than in 1300

Which is why no reasonable HR department would tell two employees to get into bed together and switch the lights out and hope for the best.