This essay reflects on the promise and challenges of community-engaged, critical participatory action research (CPAR) hinged to social policy in times of racialized state violence and massive community resistance. With cautious optimism, we argue for the potential of CPAR to facilitate more just social policy, by enhancing research validity, policy integrity, and organizing capacity. Drawing on a series of CPAR projects, we also raise a series of ethical, political, and power-laden dilemmas we have encountered in this work and offer, with humility, provisional solutions for advancing activist-scholarship linked in struggle with communities under siege.