This will essentially depend on the national/local legislation from which the law is applicable to such an asset.
In general terms, as of today, the answer is NO unless there is an underlying contract signed by a public notary to validate the ownership of the asset through an NFT. If this is not granted, a theft of that physical asset can't be legally covered by an NFT ownership.
Same principle actually applies for non physical assets, such as intellectual property, software licenses, etc. Again, a legal contract or agreement must exist beyond the underlying technology.
An NFT can ensure the provenance of an asset, traceability when ownership is transferred, tamper-proof features, etc, but they don't provide legal coverage on ownership without a 3rd party intervention that gives legal validity.
Nevertheless, a mainstream blockchain adoption is likely to facilitate a transition where governments & countries will begin to rely on this technology to enhance the current and inefficient legal bureaucracy (e.g.: I read some time ago that Japan was trying to place the entire land registry into the blockchain).