The specific situation in the U.S. or any other individual country doesn't really matter for my point. Even if I'm wrong about how easy freeloading is in the U.S., it's enough that we can point to some countries whose welfare systems are (or even just were at some point) generous enough to enable easy freeloading.
Ironically, in my opinion, in places where there exists a large underclass living off the welfare state, it is precisely their reversal to the forager lifestyle that the mainstream society sees as rampant social pathology and terrible deprivation of the benefits of civilized life. I think you're committing the common error of idealizing the foragers. You imagine them as if you and a bunch of other highly intelligent and civilized people had the opportunity to live well with minimal work. In reality, however, the living examples of the forager lifestyle correctly strike us as frightfully chaotic, violent, and intellectually dead.
(Of course, it's easy to idealize foragers from remote corners of the world or the distant prehistory. One is likely to develop a much more accurate picture about those who live close enough that one has to beware not to cross their path.)
You are not wrong about "freeloading," though that term is probably (unnecessarily pejorative). The Developed world is so obscenely wasteful that it is not necessary to beg. You can get all the food you want, much of it very nice - often much nicer than you could afford to buy by simply going out and picking it up. Of course, you don't get to pick and choose exactly what you want when you want it.
Clothing, with the exception of jeans, is all freely available. The same is true of appliances, bedding and consumer electronics of many kinds. The one...
From Mike Darwn's Chronopause, an essay titled "Would You Like Another Plate of This?", discussing people's attitudes to life:
Conclusion, graphs, and references in article. As usual, I recommend reading Chronopause.com as Darwin has many good articles; to quickly link a few: