She's a grifter, not a thief. She does have stealth skills, but she generally feels no need to get all sweaty and dirty out in the grass and such.
Well yes, that's what Kagome is for. She's there for her awareness and ability to resolve unforseen complications in ways which don't result in every observer saying, "This was either Deidara or Gouketsu, and the rampaging cloud of boom was shouting about 'stinkers' instead of philosophising on the fundamental impermanence of performance art, hrmmm..."