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https://fallout.fandom.com/wiki/Fallout_4_companions
Game is dumb in that regard, can't get away with anything with your companion around.
It's true that the game is dumb in this regard, but it's also dumb in that non-companion NPCs will generally completely overlook you stealing something as long as they don't directly observe you taking it. Even if there's obviously no-one else around and you were only out of their sight for a couple of seconds.
A genuinely intelligent companion would probably just notice that you had taken something by seeing you with it later instead of detecting it through magic companion sense, and genuinely intelligent NPCs also wouldn't let you get away with stealing when you're the only possible culprit.
Only total distance will stop from detecting you.
I once had to order a companion to stay near the noodle bar in Diamond City, so I could lockpick near the Colonial Taphouse.
I only play with Cait as my companion, and I frequently do stuff that she dislikes. Cait isn't very keen on me being friendly and helpful towards the general populace. Whenever I accept a quest from someone to clear an area or to find some object, she'is unhappy about it. On the other hand, though, I always try to get the highest possible payment for any jobs I accept. And THAT is something she likes me for. I also pick locks, pick pockets, steal stuff, murder raiders and stuff like that. She loves these things.
On the flip side, once she's clean, she hates it when I use chems. But that's something I've never gotten in the habit of doing anyway, so that trait of hers doesn't affect me much.
As long as you do enough stuff that your companion likes, you won't get into trouble for doing things they dislike. No need at all to be too fussy about it.
I usually make war upon the BOS because LOOT!! They have the best weapons, best armor, best goodies! Besides, I love to hear their "For.... Elder... Maxson" as they die.
It's not even murder once the Player faction is enemies with the BOS, and no harm no foul no crime at all for killing them and looting the dead bodies!
But take some .38 rounds off the table at Boston Airport, and that's stealing. WTF?! I mean, the BOS doesn't even have .38 caliber pipe guns.