Is it only ok for luxury items? What happens when you swap steaks out of that sentence?

You have a hundred (dollars|pens|shoes|boxes of cereal), you probably won't notice if I take one.

I don't feel right taking one if I have other options. Whether or not someone notices doesn't make theft OK, it just means you get away without consequences (depending on your religious beliefs).

Not to mention you probably have to trespass/break and enter to do it.