The US is great as long as you are not poor. You don't have to be rich, just don't be poor.
But it's hard to get a 1:1 comparison because the data in Europe on things like homelessness is shockingly poor. Most of the major European cities have strong dispersion/anti-camping laws. Because homelessness is kept more out of sight in Europe, it doesn't draw as much attention.
Sadly, there are a large number of people who cannot do that whether from drugs, trauma, natural inability, etc.