This study examines how Participatory Scenario Planning (PSP) can enable co-creation of long-term visions in contested multi-stakeholder contexts. Using Feijenoord, a diverse Rotterdam neighborhood, as a case, we prototyped a three-step PSP approach, (I) Vision Building, (II) Stress Test, and (III) Placemaking Mapping, across six facilitated sessions with residents, entrepreneurs, municipal actors, educators, and housing corporations. Results highlight the importance of structured facilitation, iterative reflection, and tool sequencing for reconciling divergent perspectives, surfacing assumptions, and translating visions into concrete actions. The study demonstrates PSP’s potential to foster inclusive, actionable strategies in urban, organizational, and other complex multi-stakeholder contexts, emphasizing that meaningful facilitation, temporal investment, and sustained incentives are essential to ensure equitable participation and durable outcomes.