Outside of Cottonwood last March/April I did have the occasion to be camped near to some people who were technically homeless.
One was a woman, who after talking to her for a while, definitely appeared to have some mental issues. She had quit her job in CA, packed her car up and was trying to find someplace to get work. She was definitely down on her luck but managing quite well given her problems.
The other was a vet who had been forced out of housing, lost his vehicle in a car accident and was driving a rather iffy car (mechanically wise) and sleeping in the back seat. While I was there he managed to obtain employment in Sedona and had started looking for a place to live. His biggest problem was the ability to save enough to pay first/last and the deposits for utilities more than anything else. Living without even a cooler to keep food in meant buying food daily. He was cooking his meat on a grill he'd found by digging a small dugout in the ground, surrounding it with rocks to support the grill and using barbecue briquets. I happily gifted him the little propane barbecue I was carrying around and not using. He already had the propane tank to go with it and planned on adding a small stove with his first paycheck.
Both were struggling but were intent on managing their situations. Yes, they both had to have cold baths out in the open with blankets/tarps hung out to give them privacy but then I was using a solar shower and the nearest bush/trees to do the same....
I had hot water, they didn't.
I WAS camped in an area that was about as close to town as you could get. I'd chosen it because it WAS close to town. I was doing a lot of sightseeing in the area and didn't want to have to deal with the rough roads for more than I had to.
Anytime this past winter I camped further off the beaten path there was no problem whatsoever with neighbors who were doing anything different than what I was - full time living and travelling in my home on wheels.
I'm sure that there are problems out there but since I have a home on wheels I can simply pick up and go if I feel uncomfortable with my neighbors.
I've seen more problems with drugs and alcohol abuse when I lived in urban areas than I'll ever see out in the forest/desert.
And any problems I do encounter in the future sure won't deter me from living my life to the fullest extent of my desires.