In the library or barracks, after initiating combat (just touching a lamp or picking up a book should do it, after the first character gets caught stealing while sitting or lying down) you can also just have the rest of the party go downstairs, and the stuck character will be free after being killed and resurrected. When I tried in the barracks, Aureus didn't do anything, just wait 5 or so seconds and end his turn, so it took a while for soldiers outside to come in to kill Roderick (sent Scarlett outside to see if she could leave the battle that way, but all the soldiers in the immediate surroundings were hostile, as well).
Reloading avoids having a bunch of people with a -45 opinion of you when you return, though.
With Aureus over by the bookcase Roderick could easily sneak and steak the socks. I had to move the screens out of the way in order for him to get caught.