Community paramedic (CP) programs offer an alternative to traditional policing by deploying medical responders after a behavioral health crisis, providing follow-up care, and connecting people to other community health services. CROSSROADS aims to enhance CP programs by including medical legal partnerships (MLPs) to address health-harming social and legal needs that may be exacerbating people’s risk for contact with the criminal legal system and adverse health outcomes. The study is taking place in four U.S. cities (Durham, NC; Portland, ME; Miami, FL; and Pittsburgh, PA). Using human-centered design, the team will work with community experts to tailor the intervention aspects and deploy a randomized controlled trial to test the standard of care of the CP program versus the CROSSROADS intervention.