Is there a way to choose specific non-controllable roommates?

I've been able to choose acquaintances and friends to be roommates. If you have enough beds there should be a roommate menu and you can ask them to be your new roommate.

Edited to add, they need to be sims in homeless households for it to work, so they can't be living in a house already. I'm not sure if they need to be the only sim in a household as well, but I did that just to be sure.