This is of no relevance to the OP, but the tenants could be in the same position six months later as the poster you've quoted said.
The council don't always house people themselves. They don't have a duty to house people permanently, only to house them. Obviously in a lot of cases they do go from temporary homeless accommodation into a council or housing association permanent tenancy.
In some areas with high demand and low housing availability, the council rehouse some people in private rentals. They know of landlords who will accept people on benefits, people without references, people who've stayed until the bayliffs evicted them, people with no deposit (the council either pays it or loans the tenant the money for it), people with low incomes and no guarantors. In short, landlords who don't have the usual high criteria private rentals do. This only solves the problem for the tenant temporarily, because when the tenancy becomes due for renewal in six months time the landlord could raise the rent or evict, if they want to, meaning the tenant has to go through the homeless system all over again.
OP, what a shit-show this whole situation is. you've had good advice already. What I will add (because you don't seem to be understanding it) is you need to lose the mindset of thinking you have no money for court costs. The tenants have the legal right to live in your property until evicted by bailiffs. End of. If you own this property you have no choice but to find the money from somewhere to pay the court/solicitors costs to get them evicted.
As was mentioned early in the thread, if you don't own this property (your posts make it sound as if your parents could be the legal owners) and there's no tenancy agreement between you and the tenants, walk away and save yourself the headache of it all. If your parents own the property they are the ones who should be dealing with evicting their tenants. What they do with the property after that is up to them.
If you're living with parents and you don't own this property, and it's becoming impossible for you to stay with your parents, have your parents make you homeless. Which they can do easily without any court order as you're not their tenant, only a guest in their home, and therefore you have no rights to stay there at all. Then you can go through the council homelessness procedure and be rehoused yourself.
You say you're unable to work for health reasons. With the exception of PIP and child benefit (which aren't means tested), I hope you haven't been claiming income-related benefits whilst owning this house yourself. Because property you don't live in is counted as if it were cash in the bank by DWP. So if you own this property and have been claiming income-related benefits, without declaring either the property ownership or the rental income (which would make you ineligible for means tested benefits) to DWP, then you've been committing benefit fraud.
If you don't currently own the property and you're claiming income-related benefits, do not have your parents transfer ownership into your name without first evicting their tenants. Otherwise you'll lose your benefits and the tenants will become your problem, so then how will you get money together to evict them? You can only claim income-related benefits whilst being a property owner if you're living in the property.