Neglect is child abuse, and I'm so sorry that happened to you.
Benign neglect is not neglect. It's simply not hovering, stepping back to allow children to learn independently, but safely.
Sleeping rough sound awful, and I'm sorry you were put in that position.
Neglect - not noticing where your child is sleeping, not having a bed for them, kicking them out or making home a unsafe space so they prefer to stay out.
Benign neglect - allowing a pair of ten year olds to see how it feels to spend the night on the hammock in the garden, knowing your garden is relatively safe, leaving your bedroom window open so you hear them, and the back doir open so they can one back in any time, leaving a midnight feast for the on the kitchen table. Depending where you live, obviously. Benign neglect is allowing children the adventure having assessed the risk, and allowing the risk rather than attempting to remove it altogether.
Actual neglect - leaving a toddler alone in a wood. Benign neglect, giving a group of older children a picnic and a map, knowing they can use it, and letting them walk home/back to the car park etc. without you.
Actual neglect - never changing bedding, or even providing bedding. Benign neglect, letting a teenager experience how it feels to not change the sheets for a month rather than doing it for them.
It's not neglect to expect a child to make their own sandwich once they are capable of doing so - my friend's 9 year old makes packed lunches for herself and her younger brother every morning.
But it would be neglect to not provide anything to go into those lunch boxes, or to expect a four year old to scavenge food for themselves.
Do you see the difference?