Hal900x: OK, I am infuriated. After dozens of saves learning the mechanics, I found a reliable way to steal the +1 Breastplate in Dammons shop. Took my druid, went Cat mode, and meowed to change the guard's sight cones. Astarion was already positioned near the item. As soon as the sight cones are pointed away from me I hide. IMMEDIATELY Dammar turns around and is aware of my hiding. There is no red sight cone anywhere near me. I don't recall the act of hiding making any noise, am I wrong? Very frustrating...
TLDR
I did it only with invis potion, hiding and sending item to camp.
you could prepare a fog spell to block the guard's line of sight (he's on the high ground where the kid stole some dude's mother's locket) cast it near you, not on top of him or the vendor.
send the thief alone, Invisibility potion or spell, hide, steal, immediately send the item to other character or camp. Or theleport to camp, via the map or context menu or whatever.
You will be busted no matter what but the item wont be in your inventory. ONLY THE SUSPICIOUS CHARACTER gets interrogated, only once, after you bail out either via persuation or the fact you DONT have the item, it will be fine, afterwards you can stroll around with the armor on safely.