I understand you feel a bit guilty for just booting him out on the streets with his DS, so I would probably say something like 'I can't carry on like this, either you pull your socks up and your DS shows me some more respect, or you'll have to go, I can't afford to support you any longer.'
Chances are he wont take much notice for long, but at least you can say you have given him one last chance.
When he cocks up or disrespects you again, then change the locks and get rid, don't feel bad, you have given him an opportunity to make amends and he's blown it.
I speak as someone who has an XP who lived off of me like a leech for 4 long years. He was great in some area's but when it came to money, he never ever had any, and I ended up going into quite alot of debt just to keep a roof over all our heads. My XP also messaged other women on facebook and even arranged to meet them, he drove my car, had nowhere else to go and when I asked him to leave, he started crying, told me he was going to commit suicide, that his life was shit without me in it. I relented so many times because I felt bad and tbf, he didn't have anywhere else to go, or any transport. He needed my car to get to work and my home to wash/eat/sleep in. He had no friends and his relatives didn't want to know.
He didn't change for long though, and we were back to square one within 6 weeks each time I gave him another chance.
In the end, I threw him out, and he cried, threatened to take me to the cleaners (whatever that meant because we weren't married) and then whilst packing his stuff, (stupidly I left the house while he was packing to avoid an atmosphere) he stole quite alot of money from my house, a PS3, my bicycle (brand new) and various other stuff that I didn't even notice for months afterwards.
Strangely enough after all my concerns, he immediately found somewhere else to go that night and within weeks was living with another poor soul woman. She had no hesitation in throwing him out after 3/4 months, after which he found himself another woman who he lived with for a year before she threw him out, and now I have no idea where he is, but tbh, I'd lay money on the fact that he's not on the streets.
I only know so much about him because we have a DC so he sporadically pops up from time to time. 
Please don't feel guilty about this man. His DS is his responsibility. You are not a homeless shelter, and if he was so badly in need of a car to get to and from work and a roof over his head, he'd surely have treated you and your DD with more respect in the first place.
He will find somewhere else quite quickly, even if you don't believe that, he will.
Incidentally, why did he split with his ex?