Living in an SUV is often the first step to really needing their help. Housing insecurity is a quick road to pretty rough living. If you are in their system, in their eyes, they can actually act quickly and help you when the likely next step happens. Not being in the system is pretty slow to get help in most places.
Oh yeah, I totally get the lifestyle. Done enough overloading to really appreciate the lifestyle. But I’m trying to explain things from their point of view. Even if now, you are in control and everything is going according to your plans, they see trouble in months if not years when those plans abruptly change. They know how most people got from point A to point B and are now sleeping in shelters or dark corners of “civilization”.