First, I don't think they ever said food should be free. Second, capitalism and communism and all the isms are the inventions of people - humanity makes the rules. Third, there is an awful lot of wiggle room between today's food prices and "free". Put it all together, and you might realize that feeding everyone doesn't have to mean food is free and farmers and distributors go bankrupt.
You call into question whether there are any alternatives to capitalism as if nobody has ever proposed any, and you call out people who want a $20/hour minimum wage as if minimum wage hasn't been falling behind inflation and cost of living for decades. It kinda sounds like you want to pin society's problems on the failure of individuals and don't see anything wrong with "the system".
I don't think anything less than a collective effort to support the vulnerable and dismantle the rotten parts of the system has any hope of improving our situation.
The problem with things like welfare and food stamps isn't that people are lazy, it's that the system produces distorted incentives. If getting a job means you lose money, why would you ever get a job? How are you supposed to get a better job if you can't get a basic one?
There should just be a universal basic income. And instead of a simple cutoff, your benefits should ramp down as your work income ramps up so that you basically keep 50 cents of every extra dollar you make from working until you're completely weened off of the UBI.