There’s usually a gap between expressly permitted and expressly forbidden. And there’s an art to finding an appropriate balance between 1) pushing forward into desired space and 2) overstepping reasonable boundaries. Take a lesson from permission marketing concepts, and perhaps Bait Car:

Officer: “Did anybody give you permission to drive or take this car?”
Entrapped Criminal: “I gave myself permission.”
Officer: “So you gave yourself permission to drive?” [Laughing.]
Entrapped Criminal: “Basically” [Smiling.]