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When my commute included a light rail ride from Hoboken to Edgewater, New Jersey,I would ride along the bottom of the Palisades cliffs. And hidden in the trees were settlements made by the homeless people who I could spot gathered around their morning campfire. Some of these places were well constructed with real planks built into a hut. Others were less so,like a collection of plastic garbage bags made to roof a series of earthen embankments that one had to crawl into. So even in the urban area,one can make a freehold of a sort,as long as it's not obvious enough to attract the attention of the authorities.
