it's the "authority and control" to pick up someone's wallet and give it back to them

Not analogous in the least. The above is a concrete, one-on-one scenario where the owner is known, and they possess the most direct link to the object.

A more apt analogy for Kokesh’s “plan” would be a man finding a room full of thousands of wallets with no IDs in them, and them “redistributing” them to random people, because “we have to be pragmatic about stopping wallet theft.”

This is a task for the decentralized free market and the laws of property. Not for a politician. What’s more, price calculation and supply and demand cannot function accurately from synthetic, centralized control, even with the best of intentions.

As for homesteading national parks, he directly said in this comment it would be allowed.

You said it. “Allowed.” Maybe you have misunderstood that as per libertarian property ethic, permission to homestead unowned land is not required.

His vague, non-specific answer was decidedly not a real clarification.

If I need permission from the King to acquire unowned property and move/work freely on it/with it, then it is not Voluntaryism.