I think seeing themselves as victims may be one of the many 'things they have shared views on' that has allowed them to see both of their backgrounds as victim-hood.
So much of it is beyond heartbreaking. It is possible to live safely in a tent but she/they clearly had no understanding of how to live in a tent, or what the walls of a yurt are made of, or how to vent and heat a tent or vehicle so everything isn't damp, things going moldy, and water sagging the roof and putting pressure on the poles.
It is possible to live in all sorts of difficult conditions, including if you absolutely have to with a newborn, but it requires preparation and hard work, and continuing daily work to keep it livable in.
Not just 'well other people live in tents' and objections are 'Western viewpoints.'
Yes parent/s who have children previously removed frequently abscond if the woman becomes pregnant again. Others parents remove themselves early to avoid any potential of removal of either all, or specific, children in a family.
There are all sorts of people involved in 'helping' them for different reasons.
Sadly in the past at least, there have been some very serious miscarriages by social workers and genuinely decent parents did all sorts of questionable things to keep their children safe when the state really wouldn't and wasn't.
The legacy of that interweaves with parents both then and now, who most people would feel weren't able to safely parent, and it is part of the problem.
Google John Hemming, Christopher Booker, (deceased) and Ian Josephs (as well as the infamous 'Gena in France') for an understanding of how conspiracy theory parents with little practicality but some cash, might think there were many options open to them, and why police might decide to do as they did to ensure there weren't.