Indeed. That's where I approach it. Our current system is so fragmented and inefficient that we still have homeless people because they can't get on the right programs, while people who are "good" at signing up and applying can be driving later model cars than what I own. There's programs that pay cash, food benefits (at least 3), help pay for housing, help pay for utility bills, pay for child care, and more.
I tend to keep healthcare separate, because it has a wide range, between $0 and $XXX depending on the health of the person. Can't really help that. Personally, I'd start combining Medicare, Medicaid, and the VA. Perhaps even Tricare, all the other government health programs. I try to not call it "insurance" because insurance isn't something you're supposed to be using on the regular, that doesn't have negotiated deals with everything, etc... In order to reduce expenses, in line with VA and military experience, let the new combined medicare agency not only negotiate drug prices, but operate their own health facilities. It's seriously cheaper in the long run. If we could get our costs down to around that of Europe, we could have "single payer" without spending a drop of private money OR increasing government spending.
Anyways, another big factor is what is generally called "the welfare cliff", basically, as one starts to earn money, they start clawing back the benefits. But because they're "needs based" and so fragmented, it is common for a person to LOSE income by making more money between taxes and the clawbacks.
By adjusting the tax system to be the clawback, by unifying most of the welfare programs into the UBI, one can ensure that people are always better off by working and earning money, assuming they aren't being crazy and commuting 2 hours each way by car for a part time minimum wage job. Plus, lose their job? UBI is still there.