I’m unsure if this is intended behavior or not.
When clicking to pickup an item, I clicked away to move to a different area away from the item. Afterwards I walked over the area where the item was located and the item was picked up and was in my inventory. After I noticed this, I tried attacking (right click) to cancel my movement towards the item, and afterwards I walked over the item and it was picked up.
This also worked when I manually dropped an item on the ground.
Please let me know if I can provide any more details/ a better explanation.