How to steal and pickpocket in Crimson Desert

Knowing how to steal in Crimson Desert is absolutely essential if you want to get your hands on belongings that are owned by, well, anyone at all. Problem is, the prompt to steal is greyed out until you get your hands on a specific item, and the game does not explain how or why. It’s a stark difference to other open-world RPGs, where stealing is commonplace, and you can do it from the very start.