Please never put yourself in danger! If there's something you are uncomfortable picking up, leave it. You can contact us or the city's 311 reporting service if you think it needs to be addressed.
Make sure you are visible if you pick up any trash in the street.
Be friendly to people experiencing homelessness. Continue to pick up trash in the area, but give people space too. They may see what you're doing and collect their own trash. I've experienced that several times. Large items left behind or encampments are not something you should try to figure out.
Here are a few helpful resources:
Syringe Pick Up Guidelines
https://www.minneapolismn.gov/government/departments/health/current-concerns/opioids/safe-syringes-naloxone/
Minneapolis 311 Service
https://www.minneapolismn.gov/report-an-issue/
General Guidelines for Picking Up Trash
https://blog.arcmate.com/safety-guidelines-when-picking-up-litter
Picking Up Trash With Kids
https://www.doinggoodtogether.org/projects/clean-up-your-neighborhood