If you steal something and bring it back, is it stealing?

Its only stealing until you bring it back right? Cause technically it's borrowing without permission, stealing is taking it and not giving it back, cops even have a different charge for it when you take a car without permission and bring it back, they call it a joyride lol so is it? πŸ€”
If you steal something and bring it back, is it stealing?
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