Just force people to interact with them. They're always going to be seen as others if they are treated like others by the state. Asheville has always sucked with homelessness, but when I was still going out, the general prole opinion on the homeless was amazing. Most of my co-workers and friends knew at least one or two unhoused folks on a first name basis. We had a ton of late night bars where homeless and service workers kinda just chilled together after shifts.

I know a lot of suburban psychos who just never interact with anyone outside their class on a non-service level. They see everyone as there to serve them and are upset by people who don't fit their service paradigm.