Deuteronomy 23:24,25 wrote:24: If you enter your neighbor’s vineyard, you may eat all the grapes you want, but do not put any in your basket.
25: If you enter your neighbor’s grainfield, you may pick kernels with your hands, but you must not put a sickle to their standing grain.
We should be able to eat crops straight from the field, with some lesser crime scent than theft. Something between rummaging and theft I'd say.
Should also apply for fruit trees so that you could go steal some apples from your neighbor as well.
There is even a word for it in german Mundraub.