This is strictly anecdotal though. It does happen*. My wife witnessed this exact thing happen to a neighbor. She was kicking herself for a long time for not realizing what was going on while seeing it.
I’ve been incredibly lucky, but the majority of places I’ve lived have had neighbors robbed or the place I lived was robbed within a year after leaving. The thing in common they’ve all had is that they were robbed during the day, when no one was home. Since none of these were caught in the act, I don’t think it’s a stretch to say that whoever did it made sure by some means that no one was home, and in at least one case this involved going to the front door.
*(this being BB, of course I have to post that this has no bearing on the racist piece of shit at hand, who will hopefully rot in jail and in no way justifies his murderous actions)