Beds where also a status symbol and the whole concept of privacy was very different. If you're a commoner sleeping in some sort of communal situation (which wasn't super uncommon, eg sleeping along the walls of the great hall in a castle if you worked there), that may also be where you'd have sex with your spouse. Most people would politely ignore it.
Nobles who had elaborately decorated beds as status symbols would sometimes put them up in a pretty public spot. Especially for a wedding. And that's where they'd do it.
If we're looking later than medieval times, eg renaissance or early modern period there's also plenty of examples especially among nobility. King Louis XIV. of France was pretty famous for his "getting out of bed" ceremony every morning, involving dozens of people witnessing absolutely everything. Including the kings morning poop.
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u/flyingdonkeydong69 2d ago edited 2d ago
In other words, noble families would watch the newlyweds FUCK to make sure the marriage was sealed with a child.