Can cities not just designate an unused plot of land to be used for temporary encampment with security?
Wild encampments do create all kinds of problems for communities, not only for safety, but for litter/human waste, vandalism, etc.
At least give people a "legal" place to pitch a tent, so they aren't forced to live like fugitives. Nobody can expect the homeless to recover if they are constantly trying to find a place to sleep.