Is sleeping in the streets or on public benches Islamically prohibited or detestable?

The sleeper's saliva flows, their limbs relax, and they lose sensation, and most likely, they remain in that state. Therefore, whoever intends to sleep should prepare for it and choose a suitable place. It is not polite to sleep among those who are awake. Consequently, sleeping in places similar to a lounge chair is impolite, unless there is a need for it. The matter may become more serious if it results in harm to people or disruption of their interests.