I would suggest telling the clerk "you undercharged me" for 2 reasons: 1) it is the right thing to do and 2) if you are not charged for an item at the register and you walk out of the store, the company would be within their legal rights to have you prosecuted for shoplifting.
If I realize that I have been undercharged upon arriving back home, no, I do not drive back to the store to makes things right. Rationalization? Yes. Reasonable? Yes.
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Everything may be explained by a conspiracy theory. All conspiracy theories are true.
No matter how thinly you slice it, it's still bologna.
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