Community: Homeless people are a community, they look after each other (and fight like mad), homeless people can be the kindest people to homeless people, they can hug and comfort, provide support, lend blankets, share food and support each other through bad times, homeless people can feel better about themselves for helping each other.
In my experience homeless people rarely steal off each other when sleeping rough, you do get the occasional heartless thief among the homeless - usually a kleptomaniac who is homeless because of their bad habits, but they often find themselves facing retribution from those they have stolen from.

My fellow homeless have usually been good to me, and I have always tried to help other homeless people.

Homeless rough sleepers sometimes band together for safety and solidarity, building camps or sleeping communally in stairways, carparks and alleyways, sometimes sharing bedding and food and also being easier for the outreach to find because of location or numbers.
I sleep alone and look after myself, but I enjoy the company of other homeless people at homeless meals and soup runs, and even daycentres where I access them.