Is a woman entitled to claim her gold that her father took without her knowledge, and is the father sinful for doing this, and what is the legitimate way to claim it without sin?

A father is not permitted to take from his son's money unless he is in need. If he takes it unjustly, the son may demand it back in a gentle manner. It is permissible to resort to the judiciary to claim one's right without this being considered an act of disobedience. Indeed, Ma'n ibn Yazid al-Sulami arbitrated before the Prophet, peace and blessings be upon him, concerning his father taking his money. This indicates the permissibility of arbitration between a father and his son. However, if the son forgives his father, that is better and more beloved to Allah.