I've picked up a few folks over the years & have stopped to check on plenty of others.
There were times in my life when I needed a ride. I remember having a car break down in the middle of a raging blizzard on my way home from work at midnight. I was never so glad to have someone stop and offer me a ride! I didn't care WHO the person was. Unless they'd had the word RAPIST tattooed across their forehead I'd have gotten into that car. This was pre-cell phone & several miles of walking to get help.
I've had other times where folks have stopped and helped me when I had flat tires, etc. I'm glad to return the favor today.
For example, this summer I drove about 4,500 miles on vacation. Much of that was through the Plains states & the SW. I took a lot of 2 lane backroads that are pretty much through the middle of no-where. You better believe I stopped for EVERY car that was broke down or had a flat tire. I'd at least roll the window down a bit and ask if they were okay, needed water, needed to use a cell, or needed some snacks. EVERYONE was grateful. One took me up on the water. I sure was grateful a few days later when someone returned a favor for ME, though I was in the middle of town. I made a stupid error in a parking lot. Lots of construction, cones everywhere, and I exited the parking lot in a sub-compact car in the wrong spot. WHOOPS. Had two tires on the road & the rear two up on the parking lot. I couldn't get enough "oomph" to reverse up it & couldn't go forward without dragging bottom. Four guys stopped and LIFTED my car back up onto the parking lot. It's Karma, I tell you.
Oh, and yes, I'll stop for pedestrians in the desert. I could care less of they are legal or not. They are getting water & food. If I get arrested, then so be it. I'd rather be arrested for helping someone than live with guilt on my shoulders for not doing so. I won't go so far as to give rides, but I'll give as much food & water as they want to carry.