I haven't tried with minor illusion, but from something I learned in DO:S2 I used 1 team member to talk to them (keeps em facing 1 way) and another who was unlinked to pickpocket em. After I got the item I booked it and they yelled about stuff but didn't aggro anyone. The guard that came over and talked to them and then ran off walked right by me (not stealthed). However, this was a few days ago, so can't say if the behavior is changed. Figured I would do more stealing on my less-good playthrough next time.
