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In almost every state, there is law in place that allows the beneficiaries of a person's estate (even if the principal has not died) to move forward with requesting an accounting.
Finally, you say it would be "undocumented". Well, as soon as you pull the money out of the bank, sell an asset and use the proceeds for your own benefit, transfer or move assets, it's documented. Unless there is a stash of cash in the attic that no one knows about, there's no such thing as "undocumented". Frankly, if you were contemplating this and could justify it against the terms of the POA, I don't know why you wouldn't document it, including a repayment schedule and a statutory interest rate calculated into the matter, and a clear chain of evidence regarding the transaction.
I look at 10-15 POAs in my legal position at a financial services company. This kind of action is specifically what we scrutinize the POA itself and the transaction against - self-dealing. I realize you are asking a question, but this just reeks of self-dealing at a minimum, up to financial exploitation of an elderly person/elder abuse on the harsh end of the spectrum.
If you have a POA, you have a special position of duty and trust. No one - legal or layperson - would recommend you take an action that is completely over the line of the trust given to you through that document.
Thus, every penny needs to be accounted for numerous times during the probate process. If the Court finds any changes in the accounting, the Court will demand to know what happen to those funds. The funds can only be used to pay off debts owed by the Estate.
I'm curious, though, so I'll bite: how did you think it might possibly be justifiable?
Just don't