Filch is usually used in casual or informal speech rather than in formal writing. Lisa filched some fries off my plate when I wasn't looking.
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Petty Theft
Use 'filch' for small, often insignificant acts of theft, not for grand or serious thefts. I caught my brother trying to filch a few dollars from my wallet.
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Slight Negative Connotation
While 'filch' implies wrongdoing, it's often perceived as less serious or malicious than stronger theft terms. I wouldn't trust him; he has a habit of filching office supplies.