I'm not talking about whether it's good or bad for people to live like that, or what can be done about it. Well, not as the main point, anyway.
Is there a right to use public tax-funded sidewalks as a campground, no matter how dirty, unsightly, and dangerous the "camping equipment" may be? I'm talking about a person pushing a grocery cart full of dirty and often wet belongings, or carrying a trashbag full of stuff and stopping to rest whenevery they get tired, meanwhile often asking passers-by for money, or otherwise engaging them.
Would any sane and non-addicted person choose to live like that? If there is no way for a peson to exercise a choice, can they really be said to have a "right to choose?"
A humane society's solution for these obviously mentally ill, and/or addicted people is to take them off the sidewalks and bring them to where they can get help. If they refuse the help, I can see a libertarian case for not forcing them. But why bring them back to dangerous city streets that they will both make more dangerous and be endangered on? Take them to the woods near a water source and drop them off.