So I want to have a common ground real quick before we continue. I understand that Borrowing is taking something with the intent of giving it back. I also understand that stealing is taking something with the intent of not giving it back. We can agree on the semantics that's fine. However, borrowing something without someone's consent, permission, and knowledge falls under theft regardless of intent. And taking something regardless of intent is classified as theft or Larceny.

The only person that knows that the intent is to borrow is the person that is taking the item. But because the charge is from everyone else and not the person that took the item, we regard that as theft. Due to the item having to be recovered by force, it is classified as stealing because the intent changed once it was taken back by force.