From the looks of the concept art you're going to be sleeping on a roof under the stars or in a alleyway. I like the idea of a tent and camping but really I'm not sure if sleeping will be needed for your character in Destiny like it is in Skyrim.
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lol u dont need sleep in skyrim
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Actually you do. It gives you a bonus on performance. That's why becoming a werewolf has a penalty on removing that bonus you gain from sleeping or sleeping in a house that you have a spouse in, which gives you a lover bonus. Look it up in the wikis for further information.