If you want to judge them by the law, then let's judge the beggar too.
It doesn't say anything about the beggar being too old, frail, crippled, lame, or maimed. All we see is that there is a beggar who refuses to do any work to earn his living.
Proverbs 13:4
4The soul of the sluggard desireth, and
hath nothing: but the soul of the diligent shall be made fat.
Proverbs 18:9
9Whoever is slothful in his work
is brother to him who destroys.
Proverbs 19:15
15Slothfulness casteth into a deep sleep; and an idle soul shall suffer hunger.
2 Thessalonians 3:10
10For even when we were with you, this we commanded you, that if any would not work, neither should he eat.
According to the verses above, it seems apparent that slothfulness will keep your belly empty. So why is it a problem for a beggar who isn't working to stay hungry?
Now it doesn't say much about Lazarus except that he has sores and is begging. So just based off the text alone, it sound like he is habitually sinning the sin if slothfulness with as much frequency as the Rich Man sinned. Why did one sinner get paradise and the other sinner get punishment?
Furthermore, how is the rich man carrying on a clear and coherent conversation while being burned alive? Ever touch a flame before? There's no time to chit chat until the pain goes away. Imagine the entire body on fire. The rich man would have been screaming uncontrollably.
I don't see any other conclusion than that the parable of the rich man and Lazarus is not literal.