It's malevalent question - most people don't even know the names of all crimes that exist - let alone defences avaliable and how they all work togetehr.

Breaking into someone's house is obviously a crime, but if you were running away from a axe-wielding murder then it isn't.

Taking someone's car is theft, but it isn't if 'they would have agreed for you to use it if they had known the situatiojn at hand'.