Financial Conduct in a Family Business: What Is Permitted and What Is Forbidden?

Hello, Rabbi,
My siblings and I work in a successful family business that my father founded and still manages. At times, I take items from the business, as well as money from my parents, without explicitly asking for permission. I know that if I were to ask, my father would agree, but I refrain from bothering him due to his many commitments. My siblings act in a similar manner. I am concerned that this might constitute theft. In my daily life, I am very careful not to take anything from others, even the smallest amount, but in this case, I tend to be more lenient, assuming it is a matter of doubt. Have I acted correctly? And how should I conduct myself moving forward? Thank you very much.