I think that many people who demonise those on Benefits, in social housing etc don't actually know anyone among that group. They probably never come across them in their daily lives. It's a good idea to have a chat with anybody at a bus stop, in a McDonald's, in the supermarket checkout queue and so on. I always do, and people always respond. It's a lovely way to listen to someone else and hear their point of view. That way I learned in Asda that a young mum with her child and trolley found it hard to afford groceries, and was struggling. I talk to youngsters and find they're having trouble getting a job. People open up very readily when one is prepared to listen.
Once one views all human beings as equally important and understands their lives a bit, one has no objection to helping those worse off than oneself.