Ideas in central Rocky Mtn area for homeless, mental health

We're at our wits end trying to help our single adult son. He can't help himself but maintains that he is an adult and won't give us much information while at the same time demanding we help him find a place to go. He does have neuro issues (brain damage) along with schizophrenia (among other issues). We've done the tough love thing, but he will sleep in the snow instead of going to a shelter because of his extreme anxieties and panic attacks. He has problems making mental connections such as "if I do this, then this unwanted outcome will happen." He cannot have discussions about taking care of himself and options that he has available because he becomes too stressed. He cannot come home because things get stressful - lying, stealing, and even approaching violence and there have now been a couple statements about having us killed, but I love him with all my heart and don't want him to die. He cannot live unsupervised. He needs med management. He needs direction for personal hygiene, simple chores, etc. He does not have a low IQ so is excluded from a lot of services, and what services were available to him in our state, he's burned through those. He has now been in five other states and currently is in Colorado (not Denver). There are services, but he will not talk to people because he says that everyone there treats him terribly. Some of that is his perception, but some is real because he looks a bit rough. He looks and smells the stereotyped homeless person. We've asked about getting him cleaned up and in new clothes, but he is offended by this because he is who he is. Even though I agree that no one should be treated badly based on looks, many people are not like this. He gets stressed about secretly hiding to camp because he's been arrested a couple times for this. I've suggested that because he refuses to go to a shelter that we could get him stuff like a camouflage water-proof tarp, sleeping bag, but I'm sure many of you who have been homeless without shelter know that you have to carry that stuff around with you. It also gets stolen. Even the cops will take it from you. It can make you more of a target. Recently, he was exhausted so we put him up in a motel for a week, which we cannot do anymore. We have gotten him food. We try to do what we can, but he needs a safe place. He's now banned from HUD because he lived in an apartment unsupervised and did not take his meds. He thought people were living in the walls and tore the place up, costing more than $6k to fix. He abandoned the apartment and all his belongings, disappeared for a month before we found him in a jail in a different state. What do you do with people like this? They are loved ones. Any suggestions at all on what he might can do to stay alive?