Is it permissible to eat from a friend's food without his knowledge, and what is the jurisprudence of the verse in Surat An-Nur regarding this?

It is permissible to eat from a friend's food without their explicit permission, provided one knows of their consent, based on the Almighty's saying: {or your friend}. Indeed, Qatadah ate from his friend's house, and the Prophet, peace and blessings be upon him, drank from Abu Talhah's well without permission, as long as the friend is content with that due to the completeness of their affection.