Soviets Capture/ Acquire Western Equipment?

The issue was less about what they could pilfer and more about what they could actually use. Soviet-era industry was simply too inefficient, outdated and uncaring to reproduce the high-tech and precision made items of modern warfare. Doctrine was to build it simple, reliable and producible, investment was lacking in the underlying industrial capability, so stolen or invented the USSR just lost the ability to actually make things. They missed the switch from military hardware being the cutting edge to civilian and often consumer goods being the leader, without a robust consumer goods sector the Soviets were at a grave disadvantage in innovation and next generation technology. Sadly in terms of talent the Soviets had ample stock but the system all too often just wasn't able to tolerate innovation or translate it into product.
 
They can't steal NATO quality control, production methods, non-central-planned development, etc.

The Soviets certainly did steal (and outright buy) Western production methods.

Quality control was in part an issue because some of it wasn't obviously useful (witness the way the Japanese stole a march on American companies when they went for truly obsessive compulsive levels of QC - US firms only started copying the Japanese after the Japanese had already seriously eaten into Western market share), the system didn't reward QC enough (though the Soviets certainly invested in improving it, just improvement wasn't coming fast enough to keep pace with US growth) and the overall economy (being a middle-income developing country) was not sophisticated enough to implement some of the Western techniques.

And non-central planned development, well, they eventually did start to steal that, under Gorbachev. It would have been fascinating to see how that went, had the system survived longer. Of course, before that the Soviets had ideological aversions to seriously analysing where Western economies were getting things right.

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