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. CP programs build trust with those affected, offering ongoing support rather than just one-time help. CROSSROADS aims to enhance CP programs by including medical legal partnerships (MLPs), to address health-harming social and legal needs that may be exacerbating 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 tailor the intervention aspects with community experts and, subsequently, deploy a randomized controlled trial to test the standard of care CP program versus the CROSSROADS intervention.