Siri Oru lived in her Subaru for two years with her huskies. For months, she unpacked and re-packed her belongings so she could drive to a new spot before spending the night. Ms. Oru, who is 72, suffered nerve damage in her leg from sleeping in her station wagon every night. 

But when she finally secured a Section 8 housing allowance, she was hesitant to move to an apartment over the hill. She wanted…