If someone stole money when they were younger from parents etc, repented, and now gives those same family members money here and there is this sufficient. E.g he stole 50 as a child from his sister, and now over the years gives her money here and there, but never intended that it was for the stolen

Ustadh AbdulAziz al-Haqqan

No, he must return what he has stolen and intends that.