It depends on local law, and how the police and DA interpret them. It can really vary from county to county even though state laws are the same.
Where I live you have a right to defend yourself and family if you feel threatened. It does not have to be inside your home, but proving you were threatened inside the home is easier to justify.
In my county if someone enters your home by force, even if unarmed, they are considered a threat and you will not have any issues. Outdoors, in the streets you still have the same rights, but it may take more time and investigating for local police to be convinced you were threatened. Especially if there are few reliable witnesses to back up your side.
Once an intruder leaves, you are not justified in pursuing, even if they are leaving with your property or money. I understand that is justifiable use of force in a few places.