So it’s not uncommon in the HiroTwo household for cuddle piles to happen. More often than not, they’re started by one of the kids finding Hiro napping somewhere and then deciding “this is an excellent place to nap”. As time passes, the rest of the kids (and Zero Two eventually) show up and come to the same conclusion.
Basically, Hiro is a giant bed for his family and has resigned himself to not being able to move for awhile if he takes a nap anywhere near them.