Camels transport goods and people and they are also consumed, although you would not eat the one transporting your goods!
Buffalos and cows plough the fields and are also consumed while some give milk.
Bison were eaten, their skins used for clothes and tents, their bones made into impliments etc.
All the above show the understanding of the verse to mean that any animal can be used for any number of purposes, including consumption which some do not do; Hindus and cows, Buddhists and all animals. Verse 6:142 does not mean we cannot eat certain animals as a whole, prohibiting some and not others, since we need ‘tasreef’ which means the above is qualified in the following:-
6:145 Say, "I do not find in the revelation given to me, any food that is prohibited for one who wishes to eat, except: Carrion (dead meat), or running blood, or the flesh of swine – for it is a barrier to moral development. Or, anything (not just meat) that, in defiance to commands, has been dedicated to other than God.” If one is forced by dire need without being deliberate and without transgressing, your Lord is Forgiving, Merciful.
Stolen food lies within the remit of do not steal!
5:38 (Theft is a crime that steals away the sense of security from a society.) A habitual thief, male or female both, must have their ability (to steal) cut off. This is the reward for their doings, and a deterrent from God. God is Mighty, Wise.
If we are capable of feeding ourselves then there is no reason to steal. If the state denies us our rights, preventing us from feeding ourselves then we have a right to steal from those who are doing the denying, including the rich.
Eating stolen food when we can feed ourselves with halal obtained food is therefore haram.