There are a lot of times where you just go into other people's homes and take whatever's lying around. That's kind of a weird thing about computer RPGs, where the protagonist will just steal everything that's not nailed down, and everybody just kind of lets him.
This was a weird decision--I have to think it was exactly that--by CDPR, not implementing any sort of general purpose theft/ownership system. At all. The best I can tell, there are manually programmed triggers and flags on certain missions, most of them indoors, which will trigger an NPC response which amounts to "show anger at theft", related to making certain items mission critical. In other words,
sometimes if you grab an item, an NPC will respond by suddenly getting angry at you. But that's very rare overall, especially compared to the other context-sensitive things you can do.
That's covering for the fact that, for 99% of world items, there is zero ownership data or system set up, the same way 99% of the world items in the game have no physics or collision model (and unless they're weapons, are represented by their containers or nondescript bags, as oppose to objects that can be knocked around by gunfire or explosions). It's...extremely crude, for a game as otherwise technologically advanced
as CP2077 is. A bottle of beer, a glass syringe of narcotics, a box of pistol ammunition, a donut are all basically the same static, unmoving object in the world, and when you pick them up, they become numerical values in your inventory. It's extremely crude, but generally works. And coincidentally, NPCs occupying a space have zero awareness or programmed relationship to any item in said space (which to be fair, most of which can't be manipulated anyway, and are simply invincible permanently-fixed set pieces). I assume most people don't really notice or care, except for the fact that you can visit someone's home and take every single actual thing (as oppose to "fixed landscape object", like a permanently fixed chair, plate, bottle, plant, etc.) they "own" and they won't comment on it unless a response was programmed in for that specific mission, which it probably wasn't.
Starfield does it vastly better--putting aside that interior spaces in
Starfield at their best are gorgeous (1970s spaceship cabins), and at their worst still look better than the same six interior locations reused over and over again for 99% of
Cyberpunk 2077, which is probably the weakest part of the game visually (certainly when compared to a lot of amazing looking exterior spaces). But the crazy thing is that
Starfield is just using the system that Bethesda has been using since
Oblivion, if not earlier--flagging objects as having owners, allowing scripts and events to change ownership (so for example, if an NPC "likes" you, they are amenable to you taking their things and will even comment on it, but if they don't like you, there's a different response entirely), a system that is almost 20 years old. It even works in outdoor world spaces.
I guess they just decided, "Nah." Any game development is working with a finite amount of time and resources, and managing that effectively. Even with all the delays to CP2077, I have no doubt they used that time on something else. Except it does seem like a weird oversight in a game that kind of sells itself on criminal enterprises in a hypermaterialist, living world, heh.