You might want to check with the Court Appointed Special Advocates. We meet once per week with the youths we advocate for who are in Foster Care.
The outcomes for kids with CASAs are much better-- but it involves not just being an AAA, but also advocacy in court, pushing for changes and solutions, being a voice of the child within the foster home if need be, and also providing practical help to the child that a parent might normally provide.
For example, besides emotional connection and support, I also got my CASA youth out of the regular mental health care track for foster youth in my town, so she could access Neurofeedback through adult Medicaid, and I helped her find a healing volunteer involvement at an adaptive riding program, and I helped her apply to colleges and scholarship programs. So it was more than emotional support.