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You are correct, generally, you cannot hide behind another PC or creature and make a stealth check. However, lightfoot halflings can (they make great rogues for this reason) if the creature is one size larger than them (which includes medium sized PCs). The skulker feat though, does not allow hiding behind PCs. It allows hiding in "lightly obscured" areas, which is not the case where there is half cover, but no other situations.
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