When you give a good item to somebody (such as the illithium), it usually gets put into the person's Backpack, from where it cannot be pickpocketed. (Or, at least when I try pickpocketing my own party members, I only get things that they're currently wearing.) You can, however, usually get the item back by killing the person, although that's not always a good solution, and isn't guaranteed to work: Sometimes, the script does not transfer the item from your possession to theirs, it simply removes the item from the game.
Thief skills roll over at 255%. Go easy on those Potions of Master Thievery!
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Volothamp's Comeuppance
Everything you ever needed to know about the entire Baldur's Gate series......except spoilers.
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