I haven't walked out of any restaurant but if things got bad enough and the circumstances were just right I'd walk out, and no I wouldn't feel like I was stealing (but it would have to be an extreme case for me to walk out). But to answer your question, in most cases you pay at the table. So the management wouldn't know you got up and left without paying unless you made a scene or they kept a hawk eye on you.
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La Disciplina È La Mia Spada,
La Fede È Il Mio Schermo,
Non salti Ciecamente In Incertezza,
E Potete Raccogliere Le Ricompense.
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