if you MoveTo an actor with a furniture as target, it'll kick the actor into the furniture without even playing the entering ani.
might be worth a try for idle markers too for getting him in.
for the UseIdleMarker procedure, you could try:
1) set a time on the idle marker ref. (in the patrol tab). not sure if this does anything on a single marker though)
2) put the use idle marker procedure in a simultaneous branch together with a wait (or a sandbox maybe? would never complete then and remain where he is), maybe the sim-branch into another branch of a type you can set to "repeat when complete" to make sure, and set the whole package to must complete.