No, but if you do not have the sleep with option, you missed something or you do not have the stats high enough.
Have you done the basement titfuck multiple times?
Another thing I recommend frequently, Read through the change logs, make sure you have seen all of the scenes referenced in Version .03 before trying to get scenes from Ver .04.... wash, rinse, repeat.
Straight from the guide:
Night Sex Duo; At night enter her room (when she is sleeping) and interact with her and select "Sleep with" option. The requirements to unlock this is to have had sex with her, to have given her the sleeping pills and to have had previous interactions at night with her (fondle and tit fuck). Completing this will trigger the event that adds Mia to the manor. (must have the room beneath Martha's unlocked, bring Doyle to unlock the door)
Thanks to
@Golem98 for the Guide
Cheers
As ever, Likes are greatly appreciated!