I get that you've skipped a lot of posts, given you're asking this question, but basically what it boils down to is:
There are two kind of heist - procedural heists, where you literally plan out and prepare for stuff and then do the heist, and cinematic heists, where you may have a certain amount of preparation and planning, but mostly you just "do" the heist and use mechanics to allow you to assert fiction (like, "I planted a guard disguise behind the tree in the courtyard!", whereas in procedural, you'd have to have actually done that).
D&D has nothing that supports "cinematic" heists. It's relatively easy to add stuff that does, as was shown in 4E in Dragon 200 with Logan Bonner's adventure "Blood Money", but it doesn't inherently have it.
BitD only supports cinematic heists, but has a ton of tools to support them.