The answer/solution here....treat public camping as a fee situation, and the ‘camper’ has a daily fee of $20 unless you settle for a designated city/county-run camp-ground on the outskirts of the city and agree to some form of rehab.
I suspect Justice Thomas (a big-time RV camper) is going to have a very interesting view of ‘rights’.
$600/month is the cost of a room in a basic apartment.