If you wait awhile (10 or 15 minutes real time) for the character's inventory to be reset, can you steal again?

I thought in DD Pickpocket was only dependent on NPC character level (there are amount and item type limits in BD). I only used the skill twice, though, for quests.
The description from The Locus Inn - Skill System (individual paths, and a skill table for each class) doesn't mention other limits.