What, you want theft to just be allowed?
Yeah, no.
You were stealing. You got caught stealing. There should be a consequence.
Don't get caught next time.
I do think though that binding pickup to the same interaction as go, is not the best of designs though.
That said, I didn't run into the issue of stealing something by accident in BG3, while it happened quite often in D:OS2. I do often interact with an object that isn't visible (like a ladder hiding "behind" the camera)