There isn't a way around it though there are ways to get hidden again quickly.
First if find old Invis Item, make a UOAssist hotkey to equip them. After the steal hit the macro. Stand there, don't move!! wait out the skill timer then hit your hide macro before you unequip the item.
Second way is my preferred method, get GM Fencing at least, carry a dagger with as much HCI as you can get. Make a macro to equip last weapon, steal, equip the weapon, toggle shadow strike and target the weakest mob around you, on the first hit you'll be hidden.
Both of these will allow you to bypass the skill timer and let you become hidden right away.