This research centres on transgressive inhabitance, examining how marginalised urban dwellers of São Paulo challenge exclusionary criteria of worthiness through acts like squatting, occupations, and everyday resistance. By reclaiming urban spaces from state and market control, these inhabitants disrupt normative spatial orders, create new commons, and reframe the "right to the city" as grounded in lived experience and collective action. The lens of transgressive inhabitance reveals how bodily acts of claiming space become insurgent practices against urban injustice, transforming stigmatised identities into empowered participation in the making of the city.