[ravenwolf]

Again, would it be legal for poor people to steal?

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No, it is not legal to steal, however many of the comments are not about legality but about right and wrong and common sense.

If i caught a hungry person stealing a loaf of bread i would probably just pay for the bread.

[GilesB]

Of course, there is no honest reason for a person to steal a loaf of bread in the USA today.