but also have to be weary of the fact that some of them are just posing and scamming.

The amount of people doing this is infinitesimal compared to the actual homeless population. This is basically a right-wing talking point to undercut empathy with people who are experiencing homelessness.

Also you should never feel bad for not giving a panhandler money, but if you feel called to do more, just find an organization to volunteer with. There are people facing homelessness right now or in the near future in every urban and rural area in the US