If the store has enough information to identify you and they are willing to sign a complaint seeking to have you charged with shoplifting, it would be a matter of time before you receive a call or even a summons to appear in court.
You do not have to be seen on camera but they would have to be able to have proof or testimony of a witness attesting to the facts of your crime.
Many states have diversion programs available for first time offenders. Whether that would be applicable to you would be something you would want to explore with your attorney if you are charged with a crime.
If you decide to return the stuff, it does not mean you could not be charged with the crime. You cannot "undo" a crime.

