Money being tight can't excuse theft ethically, but this isn't as simple as ethics. Ethics are just general principles and have to be measured against a pragmatic view of consequences.
The immediate consequences of keeping the $10 would be that the store takes a $10 loss, and you feel guilty. The longer term consequences might be that you become more comfortable with adjusting your own personal ethics with personal gain and possibility of punishment. Are those worth $10 to you? If yes, then you might consider keeping the money. If no, then I think you should give it back.
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