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I see how you would find this kind of behavior objectionable, but, truth be told, it happens all the time.
The actions would not be seen as theft of intellectual property unless you copied materials or some other proprietary information from your competitors. Similarly, it would not be fraud unless you fraudulently required the competitor to go to some expense or do some work for you with the intent of not paying them.
As to finding out their prices, essentially what you are doing is "mystery shopping," which is when someone posing as a shopper comes in to get information about a store or business. Shopping the competitors rates would not be considered illegal if it was just to gather information used to understand how your prices compared to the prices the competitors were charging.
Good luck to you. I wish you all the best.