I wanted to try something out, whenever you send you companion to take something if he's not into stealing he won't do it for you, the thing is, whenever there is something that can be taken from a wardrobe,chest,etc among the rest, it won't be marked as stealing that way, if you send him to take it, he will take EVERYTHING that's in there and the itens that were marked as stealing will be normal itens now, same aplies if you have an chest in your house and you put your stolen itens inside it along with normal ones, one he takes then it won't be stolen any more...

I found this by making my companion get the wardobre inside the Jarl's castle, the fine clothes wich were marked as stealing, turned normal after she took then...

Thanks for that!