Yeah, but the thing is that they'll generally give you half a ton of these things if you just ask for them.
My parents? Every time we go through the drive-thru, they'll get a dozen ketchups and a few barbecue sauces and unapologetically say they're going to be used at home.
Napkins, creamers, etc. are all self-serve. No one is patrolling it, there are no security cameras; people regularly take way too many napkins and throw away the rest when they're finished.
I don't condone actual theft, but when the things are free and no one is stopping you from taking them, it doesn't really qualify...