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I think I would get several like-minded neighbors to knock on the door of their van with a care package of food, blankets/warm clothes, and medical/sanitary supplies.
Doing it this way would get a valuable insight into their living conditions when the door opens. It would show them that they have been noticed, and are being monitored, and would also be a show of solidarity from the neighborhood that you are compassionate, but stand united in case mischief starts happening.
Most humble people in that situation would be grateful for the thoughtfulness, but move on permanately from embarrassment of the situation. I believe if they still hang around after that encounter, they are looking for more handouts, and would possibly escalate to stealing shortly.
Give them a day or two after the neighborhood charity and then call the cops if they persist.
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