My Tanzanian friends confirmed that it can , although not always.

In Kenya, when I used this expression with high school kids (in the context of an HIV/AIDS awareness club) they did not receive it with any sexual connotation. Poor and traditional people share beds often (students at boarding school, kids at home, even patients at the hospital). They are more likely to assume sharing a bed than sex.

In my experience in Kenya, it is not a normal euphemism for sex

I see no reason. Next time you come across it, report