I agree with John about having H/B sites. It seems relatively easy to set aside some space for people traveling under their own power. It’s not like much is needed. And you can easily have a rule that it’s one night only.

There are several US states that have no turn away policies at state parks. The rules vary somewhat, but they are welcomed. If you contact ACA it can provide you with materials about the rules as well as materials on how to push for such sites in your state.

BTW…Emergency can be an affirmative defense to a criminal charge, at least in the US:

https://www.gtlawfirm.com/blog/necessity-defense/amp/