taking something without asking permission is effectively stealing, especially if the person committing the act has no intention of replacing what is taken.
food from my shelf was taken without my being asked, this is clearly an act of stealing.

"oh dear, someone has been eating my food! no one asked me if they could eat my food, therefore I can only deduce that it has been stolen."

taking without asking is not cool
by the moralist January 3, 2012
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A stupid excuse to get away with stealing something.
"Why were you trying to steal my phone?"
"I was just going to borrow without asking."
by M8Bit June 23, 2017
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