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In Belgium the cops work for the class; if the town is a bunch of paranoid old millionaires they'll look for you and have a chat to please the locals, they won't take you in if you have ID.
There's an uprise of homelessness here and everybody recognises it. Nobody'll raise an eyebrow as long as you don't beg for shit, just present collected and mentally coherent.
Police only start moving if they think you're a danger to others, or if the town is big on image they'll just shoo you away.
Belgians complain and fret about everything but they're also super lazy. A lot of people are struggling financially and will be chill about it, if you complain about it with them. That's how people bond over here.
Lastly, stay away from university cities and tourist hubs, lots of crime there, especially if you're alone and don't speak the language.
South is pretty welcoming and morefree spirited when it comes to camping. Watch out for private forests tho, the plaques aren't always visible.
Good luck