Actually, I was disappointed when they removed NPCs' reactions to stealing stuff right in front of them. If you wait until you are out of their sight, you shouldn't get caught. There is a way to cheat, however, which will make stealing almost as easy as in BD;
Keep a container in your inventory; opening it then drag and dropping items into it is not considered stealing by NPCs. Removing these items from the container the first time is considered stealing, so make sure you are alone when you do so.
There are a couple walkthroughs listed in the topic
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