If you get caught Shoplifting at a place like TJ maxx would they let you go free but give the them a citation?

i was just wondering if you get caught shoplifting at a TJ maxx store would they allow you to go? even though the person has a history of stealing but was only caught this one time. if they let you go would they give you a citation/fine to appear in court and will never be allowed there again, my friend was caught but was free to go. can anybody explain how if you get caught stealing but free to go please? Thank you -