Can stealing ever be justified?
SURE! As long you're not trying to justify your thievery to a Judge.
I think there is a difference between something being justified and something being morally or ethically right.
Sure, you can find a reason to justify any action. Doesn't have to be a good one.
Will it save a life?
Stealing back is justified. Or stealing from someone who dishonestly acquired something to help someone in need who is more deserving. Like robin hood!
Basically only if you're taking from someone who's trying to kill you. I wouldn't call that stealing.