Of course you can be charged as long as the statute of limitaion
does not expire. And technically, even if you are not charged,
you still need to tell the INS when applying for the citizenship
because on the N-400 the question is" have you been arrested,
detained, cited, indicted, charged, vonvicted?". As long as the cop
deprive you of free move at certain points, then you are arrested.
But if no officiual arrest record is created, I think you don'y have
to really disclose it.
You need to be careful about such things. Don't steal. and even if you do not steal, make sure you do not do anything wrong due to mistake of teh fact. I always check my shopping cart twice before I check out at supermarkets. It is also worthwhile to check your childrens's pockets.