There is no freedom to sleep outside in urban and suburban areas and in fact it's bad.
Most folks, even liberals like myself, don't actually have an issue with draconian homeless enforcement but it's the manner in which it's done in that there is no solution really being committed to on the other end of things which to break the cycle. People sleeping on the streets is not good for greater society, just the hostile architecture alone is a negative effect. I can't find a public bathroom in most US cities because of homelessness. We do everything around the problem but don't actually care to solve it.
If the cops drag your ass off the street but it's to a safe bed where we can triage, sort out (lot's of different homeless with different solutions) and rehabilitate people I don't think you'd find as much opposition. It's drag them off the street and just shuffle the problem to another town or out of sight or just clean up for an event that's usually at issue and that's on all of us, government, people, liberals, conservatives we all share some blame for failing to do any real action for their own reasons.