I'm not surprised by this, one would expect things like the ease of getting a weapon, cultural norms, and social welfare services to have big interactions with the poverty - crime relationships.
> And in a society as rich as the US, most are stealing because of a want, not stealing to fulfill a biological need like housing, medication, or food.
This is not as clear to me, though I imagine it also strongly depends on the type of theft under consideration. Certainly I concede that most theft in the US is probably not pure Jean Valjean-style "I just needed a loaf of bread", but in my experience the people committing like smash+grabs out of a parked car are not typically very affluent. Maybe they're doing this because they can't afford the iPhone they want since all their savings went to rent and food, but I don't think you can fully say that it's purely "desire" causing them to act criminally.
Re the poor impulse control side of things, I think it would be very hard to isolate the causal direction between it and poverty. I can imagine someone working multiple part time jobs to get by is going to have a harder time controlling their impulses purely out of fatigue and stress. Not sure if this is what you're thinking