AITAH would it be considered inappropriate if I gave her a place to stay?

About a month ago we found out that our coworker(F20) has a terrible living condition. I tried to help her. I paid for her therapy and doctor, gave her money for meds, etc.

The problem is that her situation is worse than we imagined. Apparently she has nowhere to stay and she can't even afford food. I have very few coworkers, all of them are married and have kids. They can't afford to help her and the ones who can afford to help her.... well their partners are not going to allow it.

I can help her. I can give her a room to stay at and some money for food. I know she is an adult but if you look at her you see a kid. She looks and behaves like a kid and I can't just let her starve.

I can't afford to actually rent a place for her and pay for her bills but what I can do is let her stay in my guest room.

I made a mistake and discussed it with my mom. Now my parents are against it and say I will be an asshole if I do it and it would be inappropriate. "What would people say?" Is what they said.