You do not need a claim to leave scents. Assault, Battery, Murder, Vandalism, and Theft scents can be left off of claims. ONLY Trespassing requires there to be a claim. If you have theft permissions and that body is your ancestor, you can rob it without leaving scents. If it's not your ancestor, even with theft permissions you will leave scents of theft.
To leave Vandalism scents off of claims, break hearthfires that aren't yours.
Theft is done by stealing from dead bodies that aren't your own.
Assault, Battery, and Murder are self evident.