@mmollerudHello! Another player mentioned a similar issue recently. I offered these suggestions but they haven't replied to say if it worked or not. Unfortunately, I am not having the issue in my game. When my sim places something off lot, I'm able to click the item and put it in inventory. Let me know if these work for you.
Try giving your sim the Kleptomaniac trait temporarily. You'll have to use the cas.fulleditmode cheat and then take your sim to CAS to change the traits. Then, you should be able to click an item and see "attempt to swipe" as an option. If there are other sims around, this may fail if your sim is "caught" stealing, so try to wait and swipe the item when no other sims are around.
Otherwise, if you have Eco Living, you might try enacting the Sharing is Caring NAP. In order for this to work, your sim has to live in the neighborhood where the item is. You can do this with a cheat by shift+click on your mailbox and then click "Instant Enact Neighborhood Action Plan (Cheat)". You can also do this without cheating through the regular voting process but it could take some time. Regardless, once the NAP is enabled you should get the "swipe" option I mentioned above. By the way, this is a Mischief action, so your sim will gain Mischief skill, and you may get a moodlet that suggests your sim has the Kleptomaniac trait (even if they don't).
Edit: I thought I should mention that you can repeal that NAP by a similar process; shift+click mailbox and select "Instant Repeal Neighborhood Action Plan (Cheat)" or by going through the voting process without the cheat.