I believe the fatherless are all those who never had good instruction. Regardless of whether they ever had a physical father present.
I believe the widows are all those who had everything taken away or lost at no fault of their own. Regardless of whether they ever had a physical husband, or are literally female.
These things might have sent them where they are now, whether it be in a good or bad state.
"Visit" = GO and spend time with them. Or at least don't turn down an opportunity. Instead of just waiting for them to come.
That's how I read it. And we are also told that YHWH judges the fatherless and the widow, which if it is righteous, includes all the things that were not their fault. That's a clean fear.
He tells us several times how to treat them kindly and with compassion, and we can assume that is part of "to try and be like Him".
I love this:
Deut 10:12
And now, Israel, what doth YHWH thy Elohim require of thee, but to fear YHWH thy Elohim, to walk in all his ways, and to love him, and to serve YHWH thy Elohim with all thy heart and with all thy soul, To keep the commandments of YHWH, and his statutes, which I command thee this day for thy good? Behold, the heaven and the heaven of heavens is YHWH's thy Eholim, the earth also, with all that therein is. Only YHWH had a delight in thy fathers to love them, and he chose their seed after them, even you above all people, as it is this day. Circumcise therefore the foreskin of your heart, and be no more stiff-necked. For YHWH your Elohim is Ellah of Elohim, and foundation of foundations, a great El, the mighty, and the awesome, which regardeth not persons, nor taketh reward: He doth execute the judgment of the fatherless and widow, and loveth the stranger, in giving him food and raiment. Love ye therefore the stranger: for ye were strangers in the land of Egypt (Spiritual Slavery). Thou shalt fear YHWH thy Elohim; him shalt thou serve, and to him shalt thou cleave, and swear by his name. He is thy praise, and he is thy Elohim, that hath done for thee these great and terrible things, which thine eyes have seen. Thy fathers went down into Egypt (Spiritual Slavery) with threescore and ten persons; and now YHWH thy Elohim hath made thee as the stars of heaven for multitude.
I believe more of us are crying out in the name of Salvation than we have seen. And we are not helping them.