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How do we write highly engaging criminals without endorsing their criminal activity?

Well, this may be cliche, but I think Robin Hood is a good example of a criminal whose criminal activity was actually good. It was only evil from the eyes of Prince John, but to the starving peasants he was a hero.

Another way to write an engaging criminal might be to have him turn from his life of crime and use his dash and skill for good purposes at some point in the story. I don’t know if that’s overdone, though.

Thoughts?