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I think you can steal something you own. From memory, if there is a lien on it and you try to recover it you may ‘steal’ it. I’m sure some of the legal types here will know the exact details. I think in normal circumstances it happens when someone leaves a car in for repair and can’t pay. The garage retains the car awaiting payment. The owner could steal the vehicle from the garage owner.
I don't think its possible to steal something which you already own