[Machine] There were people in the past who were blind and disabled, and they were in need of someone to guide them to their homes. If they didn't find food in their homes, they would go with them to the houses of their fathers and mothers, and anyone who accompanied them from the houses disliked being accompanied. They would say that they were taken to houses that were not their own. So Allah revealed in that (verse), "There is no sin on you" [2:236]. In that, He permitted them to eat from wherever they found (food). The Sheikh said, it means if the owner allows it. And they used to feel embarrassed with the owner's consent, so the embarrassment was removed if it was with his consent. And Allah knows best.  

كَانَ رِجَالٌ زَمْنَى عُمْيٌ وَعُرْجٌ أُولِي حَاجَةٍ يَسْتَتْبِعُهُمْ رِجَالٌ إِلَى بُيُوتِهِمْ فَإِنْ لَمْ يَجِدُوا لَهُمْ فِي بُيُوتِهِمْ طَعَامًا ذَهَبُوا بِهِمْ إِلَى بُيُوتِ آبَائِهِمْ وَبُيُوتِ أُمَّهَاتِهِمْ وَمَنْ عُدَّ مَعَهُمْ مِنَ الْبُيُوتِ فَكَرِهَ ذَلِكَ الْمُسْتَتْبَعُونَ وَقَالُوا يَذْهَبُونَ بِنَا إِلَى بُيُوتٍ غَيْرِ بُيُوتِهِمْ فَأَنْزَلَ اللهُ ﷻ فِي ذَلِكَ {لَا جُنَاحَ عَلَيْكُمْ} [البقرة 236] فِي ذَلِكَ وَأَحَلَّ لَهُمُ الطَّعَامَ مِنْ حَيْثُ وَجَدُوهُ قَالَ الشَّيْخُ يَعْنِي إِذَا رَضِيَ بِهِ مَالِكُهُ وَكَانُوا يَتَحَرَّجُونَ مَعَ رِضَا الْمَالِكِ بِهِ فَرُفِعَ الْحَرَجُ إِذَا كَانَ ذَلِكَ بِرِضَاهُ وَاللهُ أَعْلَمُ