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Stealing is never acceptable
Burglary can often lead to a severe emotional impact on its victims. This cannot be justified by the needs of the burglar.
The owner of different items may attach sentimental value that substantially outweighs the monetary value; nobody has a right to take such items from their rightful owners.
The emotional impact of having no money, no resources and no future - even facing potential death - outweighs the difficulties of the victim.
If we are talking about major corporations (shoplifting) or rich persons or governments. This does not apply. I'm not justifying theft, just countering your argument.