San Francisco, Seattle, and others have rebelled against progressivism in recent elections. That's helping the streets quite a bit, at least in key areas.
But "the vast majority of the homeless will not camp on the street" if offered alternatives? Without a stick, no. Seattle's camp sweeps come with offers of temporary shelters and/or permanent housing (we've been building or buying thousands of units), and large percentages don't take any of it -- in 2023,
only 16% took the offer! Sometimes it's lifestyle freedom. Sometimes it's sobriety requirements or a dog or lack of parking for the RV they're living in. Or the danger of living in a shelter.
So we need to enforce behavior at minimum. No camps, no litter, no inebriation, pick up after your dog, etc. (I don't know about outlawing sleeping by itself, as normal people might doze off in a park, and it seems like a useful last resort if your bus shows up at 3:00 am or something.) We'll see how the lifestyle choice goes when you have to follow the rules.