But a problem arises when community outreach or community contacts by non-police have a risk of violence associated with them.
Especially contacts with people with a history of mental health related violence. Or, domestic violence intervention. These two examples is probably where a lot of unwanted or unexpected police violence occurs. I don't know if sending in social workers would work well in such contexts.
Sending out social workers with police escorts probably doesn't change outcomes very much. But is could help depending if the armed police do not have to lead the encounter.
It’s not a theoretical situation. It sounds like you’re speculating but you could read about it or talk to people about it.