> they can't afford a car, let alone the insurance
I assume they can afford medical bills after an incident? Or they can afford to pay for damage to vehicles?
I had my brand new paint taken off across 2 panels because a cyclist tried to squeeze in between me and another car at a stop light and lost his balance. Then he casually cycled away.
$2500 in damages. But good for him, he is 'too poor' to get insurance.
Insurance for cyclist would be significantly cheaper than auto and motorcycle owners. Without it you are a financial disaster waiting to happen.