Well, last time I stole the Idol of Silvanus I shot an arrow of darkness, then cast fog cloud (my Astarion is Gloomstalker Ranger), then when it looked like both got canceled I shot another arrow of darkness, then moves the idol, then moved it into my inventory, then moved the idol to the rest of group which was already in the Tiefling Hideout, then teleported back to camp, then handed the idol in, then bought it right back because while neither Nature and even less Animal Handling is any important, its still nice, then teleported to one of the portals and it was done.

Though on second thought maybe that only worked because I did this on my work computer which has really weak graphics and BG3 is a lagfest on that. Still fine to play though, thanks to round based combat.