The shockingly low priority hospitals give to patient sleep might be a factor that the authors missed.
For baby #2, the focus was 100% on getting the nurse and doctor through their appointed tasks. 14 hour old baby is actively nursing? Too bad, hand her over, its time to do the measurements. We got so fed up that we requested early checkout, was told "they'll be over in 5 minutes to do last-minute checkout", and after 45 minutes of waiting, we just left.
Sometimes, I suspect "against medical advice" actually means "expected medical advice that was never actually delivered".
Tell the nurses to screw off if baby and mom are doing fine.
We had a similar issue in that they would come around every hour and do 45 minutes of testing. Let mom and baby sleep and eat for a while, they've both been through a lot.
Also, for the first timer's out there: Your normal rhythm of doing something hard and then going to relax and recoup is not how babies work. Like, you go climb a mountain, take a test, have a hard day at work. Then you go home and relax and recharge, right?
That's not how a newborn works. The labor and delivery are the start of the 8-12 week long process of getting the newborn used to a day-night cycle and a feeding cycle. You really don't have any recouping or recharging time for the next 2-3 months. You don't have it after the 2-3 months either, but things get a bit calmer and you'll likely be sleeping more by then though.
I don't want to scare you off parenthood, but let you know that the normal way of things is not how your life is going to go now.