The thought that someone would find your camp and ruin your shit was a real concern. Also just finding some here to sleep that is secure. One morning, early, I was sleeping in an abandoned warehouse up a set of stairs nearly in the rafters and was woken by 4 raccoons like 4 feet from me eating my bag. Having to shit in the middle of the night is also awful.
Being homeless is only scary for a couple of days. There's depression and boredom that are your real enemies. Your body and mind go into a sort of hyper survival mode and there is no room for fear.