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I've done that once, also, and no-one seemed to notice. I was on a mission to relieve someone of a key, and I was having no luck pilfering it, so on the 300th try, after getting caught, I just killed him. I walked out of his house and right up to a guard and chatted away like nothing had happened. As far as I can tell, if you are not seen doing something, you aren't busted. Another time I was intent on getting a little something out of a chest in a closet. The owner kept objecting to my borrowing, so I finally just closed the door between us. It worked perfect, see no evil, hear no evil, call no guards.
I do wish they'd add a "nonchalant saunter" mode for when you have to walk past the guards...
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